ASDA-B2 User-Manual(E)CURVE.cdr - Delta Electronics

Preface 

Thank you very much for purchasing DELTA’s AC servo products. 

This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC 

servo drive and motor. Before using the product, please read this user manual to ensure 

correct use. 

You should thoroughly understand all safety precautions (DANGERS, WARNINGS and STOPS) 

before proceeding with the installation, wiring and operation. If you do not understand please 

contact your local Delta sales representative. Place this user manual in a safe location for 

future reference. 

 

Using This Manual 

• Contents of this manual 

This manual is a user guide that provides the information on how to install, operate 

and maintain ASDA-B2 series AC servo drives and ECMA series AC servo motors. The 

contents of this manual include the following topics: 

• Installation of AC servo drives and motors 

• Configuration and wiring 

• Trial run steps 

• Control functions and adjusting methods of AC servo drives 

• Parameter settings 

• Communication protocol 

• Inspection and maintenance 

• Troubleshooting 

• Application examples 

• Who should use this manual 

This manual is intended for the following users: 

• Those who are responsible for designing 

• Those who are responsible for installing or wiring 

• Those who are responsible for operating or programming 

• Those who are responsible for maintaining or troubleshooting 

• Important precautions 

Before using the product, please read this user manual thoroughly to ensure correct 

use. Store this manual in a safe and handy place for quick reference whenever 

necessary. Always observe the following precautions: 

• Do not use the product in a potentially explosive environment. 

• Install the product in a clean and dry location free from corrosive and 

inflammable gases or liquids. 

Revision January 2012 

i

Preface 

ASDA-B2 

• Do not connect commercial power to the U, V, W terminals. Failure to observe 

this precaution will cause severe damage to the Servo drive. 

• Ensure that the motor and drive are correctly connected to a ground. The 

grounding method must comply with the electrical standard of the country 

(Please refer to NFPA 70: National Electrical Code, 2005 Ed.). 

• Do not disconnect the AC servo drive and motor while the power is ON. 

• Do not attach, modify or remove wiring while power is applied to the AC servo 

drive. 

• Before starting the operation with a mechanical system connected, make sure 

the emergency stop equipment can be energized and work at any time. 

• Do not touch the drive heat sink or the servo motor during operation, this 

may cause serious personnel injury. 

PLEASE READ PRIOR TO INSTALLATION FOR SAFETY. 

Carefully note and observe the following safety precautions when receiving, inspecting, 

installing, operating, maintaining and troubleshooting. The following words, DANGER, 

WARNING and STOP are used to mark safety precautions when using the Delta’s servo product. 

Failure to observe these precautions may void the warranty! 

ASDA-B2 series drives are open type servo drives and must be installed in an NEMA enclosure 

such as a protection control panel during operation to comply with the requirements of the 

international safety standards. They are provided with precise feedback control and highspeed 

calculation function incorporating DSP (Digital Signal Processor) technology, and 

intended to drive three-phase permanent magnet synchronous motors (PMSM) to achieve 

precise positioning by means of accurate current output generated by IGBT (Insulated Gate 

Bipolar Transistor). 

ASDA-B2 series drives can be used in industrial applications and for installation in an end-use 

enclosure that do not exceed the specifications defined in the ASDA-B2 series user manual 

(Drives, cables and motors are for use in a suitable enclosure with a minimum of a UL50 type 

1 or NEMA 250 Type 1 rating). 

The words, DANGER, WARNING and STOP, have the following meaning: 

Indicates a potentially hazardous situation and if not avoided, may result in 

serious injury or death. 

Indicates a potentially hazardous situation and if not avoided, may result in 

minor to moderate injury or serious damage to the product. 

Indicates an improper action that it is not recommended. Doing so may cause 

damage or malfunction. 

ii Revision January 2012


Preface 

Unpacking Check 

Installation 

Wiring 

Operation 

‣ Please ensure that both the servo drive and motor are correctly matched for size (power 

rating). Failure to observe this precaution may cause fire, seriously damage to the drive 

/ motor or cause personal injury. 

‣ Do not install the product in a location that is outside the stated specification for the 

drive and motor. Failure to observe this caution may result in electric shock, fire, or 

personal injury. 

‣ Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 

100 Ω). Improper grounding may result in electric shock or fire. 

‣ Do not connect any power supplies to the U, V, W terminals. Failure to observe this 

precaution may result in serious injury, damage to the drive or fire. 

‣ Ensure that all screws, connectors and wire terminations are secure on the power supply, 

servo drive and motor. Failure to observe this caution may result in damage, fire or 

personal injury. 

‣ Before starting the operation with a mechanical system connected, change the drive 

parameters to match the user-defined parameters of the mechanical system. Starting the 

operation without matching the correct parameters may result in servo drive or motor 

damage, or damage to the mechanical system. 

‣ Ensure that the emergency stop equipment or device is connected and working correctly 

before operating the motor that is connected to a mechanical system. 

‣ Do not approach or touch any rotating parts (e.g. shaft) while the motor is running. 

Failure to observe this precaution may cause serious personal injury. 

‣ In order to prevent accidents, the initial trial run for servo motor should be conducted 

under no load conditions (separate the motor from its couplings and belts). 

‣ For the initial trial run, do not operate the servo motor while it is connected to its 

mechanical system. Connecting the motor to its mechanical system may cause damage or 

result in personal injury during the trail run. Connect the servo motor once it has 

successfully completed a trail run. 

‣ Caution: Please perform trial run without load first and then perform trial run with load 

connected. After the servo motor is running normally and regularly without load, then 

run servo motor with load connected. Ensure to perform trial run in this order to prevent 

unnecessary danger. 

‣ Do not touch either the drive heat sink or the motor during operation as they may 

become hot and personal injury may result. 

Maintenance and Inspection 

‣ Do not touch any internal or exposed parts of servo drive and servo motor as electrical 

shock may result. 

‣ Do not remove the operation panel while the drive is connected to an electrical power 

source otherwise electrical shock may result. 

‣ Wait at least 10 minutes after power has been removed before touching any drive or 

motor terminals or performing any wiring and/or inspection as an electrical charge may 

still remain in the servo drive and servo motor with hazardous voltages even after power 

has been removed. 

‣ Do not disassemble the servo drive or motor as electric shock may result. 

‣ Do not connect or disconnect wires or connectors while power is applied to the drive and 

motor. 

‣ Only qualified personnel who have electrical knowledge should conduct maintenance and 

inspection. 


iii

Preface 


Main Circuit Wiring 

‣ Install the encoder cables in a separate conduit from the motor power cables to avoid 

signal noise. Separate the conduits by 30cm (11.8inches) or more. 

‣ Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal, 

encoder (PG) feedback cables. The maximum length of command input cable is 3m 

(9.84ft.) and the maximum length of encoder (PG) feedback cables is 20m (65.62ft.). 

‣ As a charge may still remain in the drive with hazardous voltages even after power has 

been removed, be sure to wait at least 10 minutes after power has been removed before 

performing any wiring and/or inspection. 

‣ It is not recommended to frequently power the drive on and off. Do not turn the drive off 

and on more than once per minute as high charging currents within the internal 

capacitors may cause damage. 

Main Circuit Terminal Wiring 

‣ Please perform the wiring after the terminal blocks are all removed from the drive. 

‣ Insert only one wire into one terminal on the terminal block. 

‣ When inserting wires, please ensure that the conductors are not shorted to adjacent 

terminals or wires. 

‣ Ensure to double check the wiring before applying power to the drive. 

‣ If the wiring is in error, perform the wiring again with proper tools. Never use force to 

remove the terminals or wires. Otherwise, it may result in malfunction or damage. 

NOTE 

1) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are 

for reference only. Please use metric units for precise measurements. 

2) The content of this manual may be revised without prior notice. Please consult our distributors 

or download the most updated version at http://www.delta.com.tw/industrialautomation. 

. 

iv Revision January 2012

Table of Contents 

Chapter 1 Unpacking Check and Model Explanation ............................................... 1-1 

1.1 Unpacking Check .............................................................................................. 1-1 

1.2 Model Explanation ............................................................................................ 1-2 

1.2.1 Nameplate Information ............................................................................ 1-2 

1.2.2 Model Name Explanation .......................................................................... 1-3 

1.3 Servo Drive and Servo Motor Combinations ....................................................... 1-5 

1.4 Servo Drive Features ......................................................................................... 1-6 

1.5 Control Modes of Servo Drive ............................................................................ 1-7 

Chapter 2 Installation and Storage ......................................................................... 2-1 

2.1 Installation Notes .............................................................................................. 2-1 

2.2 Storage Conditions ........................................................................................... 2-1 

2.3 Installation Conditions ...................................................................................... 2-2 

2.4 Installation Procedure and Minimum Clearances ................................................ 2-3 

2.5 Circuit Interrupter and Fuse Current Recommended Value ................................. 2-5 

2.6 EMI Filter Selection ............................................................................................ 2-6 

2.7 Regenerative Resistor ....................................................................................... 2-9 

Chapter 3 Connections and Wiring ......................................................................... 3-1 

3.1 Connections ..................................................................................................... 3-1 

3.1.1 Connecting to Peripheral Devices ............................................................. 3-1 

3.1.2 Servo Drive Connectors and Terminals ..................................................... 3-2 

3.1.3 Wiring Methods ........................................................................................ 3-5 


v


3.1.4 Motor Power Cable Connector Specifications ............................................ 3-7 

3.1.5 Encoder Connector Specifications ............................................................. 3-9 

3.1.6 Cable Specifications for Servo Drive.......................................................... 3-13 

3.2 Basic Wiring ...................................................................................................... 3-15 

3.3 Input / Output Interface Connector - CN1 .......................................................... 3-19 

3.3.1 CN1 Terminal Identification ..................................................................... 3-19 

3.3.2 Signals Explanation of Connector - CN1 .................................................... 3-21 

3.3.3 User-defined DI and DO signals ................................................................ 3-30 

3.3.4 Wiring Diagrams of I/O Signals - CN1 ....................................................... 3-35 

3.4 Encoder Connector - CN2 .................................................................................. 3-36 

3.5 Serial Communication Connector - CN3 ............................................................. 3-39 

3.6 Analog Monitor Output Connector - CN5 ........................................................... 3-40 

3.7 Standard Connection Example ........................................................................... 3-41 

3.7.1 Position (PT) Control Mode ....................................................................... 3-41 

3.7.2 Speed Control Mode ................................................................................. 3-42 

3.7.3 Torque Control Mode ............................................................................... 3-43 

Chapter 4 Display and Operation ........................................................................... 4-1 

4.1 Description of Digital Keypad ............................................................................ 4-1 

4.2 Display Flowchart ............................................................................................. 4-2 

4.3 Status Display ................................................................................................... 4-3 

4.3.1 Save Setting Display ................................................................................. 4-3 

4.3.2 Abort Setting Display ............................................................................... 4-3 

4.3.3 Fault Message Display .............................................................................. 4-3 

vi Revision January 2012


4.3.4 Polarity Setting Display ............................................................................ 4-3 

4.3.5 Monitor Setting Display ............................................................................ 4-4 

4.4 General Function Operation .............................................................................. 4-7 

4.4.1 Fault Code Display Operation ................................................................... 4-7 

4.4.2 JOG Operation.......................................................................................... 4-8 

4.4.3 Force Output Control Operation ............................................................... 4-9 

4.4.4 DI Diagnosis Operation ............................................................................ 4-10 

4.4.5 DO Diagnosis Operation ........................................................................... 4-11 

Chapter 5 Trial Run and Tuning Procedure ............................................................. 5-1 

5.1 Inspection without Load .................................................................................... 5-1 

5.2 Applying Power to the Drive .............................................................................. 5-3 

5.3 JOG Trial Run without Load ............................................................................... 5-7 

5.4 Speed Trial Run without Load ............................................................................ 5-9 

5.5 Tuning Procedure ............................................................................................. 5-11 

5.5.1 Tuning Flowchart ..................................................................................... 5-12 

5.5.2 Load Inertia Estimation Flowchart ............................................................. 5-13 

5.5.3 Auto Mode Tuning Flowchart ................................................................... 5-14 

5.5.4 Semi-Auto Mode Tuning Flowchart ........................................................... 5-15 

5.5.5 Limit of Load Inertia Estimation ................................................................ 5-17 

5.5.6 Mechanical Resonance Suppression Method ............................................. 5-19 

5.5.7 Relationship between Tuning Modes and Parameters ................................ 5-20 

5.5.8 Gain Adjustment in Manual Mode ............................................................. 5-21 


vii


Chapter 6 Control Modes of Operation .................................................................. 6-1 

6.1 Control Modes of Operation .............................................................................. 6-1 

6.2 Position Control Mode ...................................................................................... 6-2 

6.2.1 Command Source of Position (PT) Control Mode ....................................... 6-2 

6.2.2 Structure of Position Control Mode ........................................................... 6-5 

6.2.3 Electronic Gear Ratio ................................................................................ 6-6 

6.2.4 Low-pass Filter ......................................................................................... 6-8 

6.2.5 Position Loop Gain Adjustment ................................................................ 6-9 

6.3 Speed Control Mode ......................................................................................... 6-11 

6.3.1 Command Source of Speed Control Mode ................................................. 6-11 

6.3.2 Structure of Speed Control Mode .............................................................. 6-12 

6.3.3 Smoothing Strategy of Speed Control Mode .............................................. 6-13 

6.3.4 Analog Speed Input Scaling ...................................................................... 6-18 

6.3.5 Timing Chart of Speed Control Mode ........................................................ 6-19 

6.3.6 Speed Loop Gain Adjustment ................................................................... 6-19 

6.3.7 Resonance Suppression ............................................................................ 6-26 

6.4 Torque Control Mode ........................................................................................ 6-34 

6.4.1 Command Source of Torque Control Mode ............................................... 6-34 

6.4.2 Structure of Torque Control Mode ............................................................ 6-35 

6.4.3 Smoothing Strategy of Torque Control Mode ............................................ 6-36 

6.4.4 Analog Torque Input Scaling .................................................................... 6-36 

6.4.5 Timing Chart of Torque Control Mode ...................................................... 6-37 

6.5 Control Mode Selection ..................................................................................... 6-38 

viii Revision January 2012


6.5.1 Speed / Position Control Mode Selection .................................................. 6-38 

6.5.2 Speed / Torque Control Mode Selection .................................................... 6-39 

6.5.3 Torque / Position Control Mode Selection ................................................. 6-39 

6.6 Others .............................................................................................................. 6-40 

6.6.1 Speed Limit .............................................................................................. 6-40 

6.6.2 Torque Limit ............................................................................................ 6-40 

6.6.3 Analog Monitor ........................................................................................ 6-41 

6.6.4 Electromagnetic Brake .............................................................................. 6-45 

Chapter 7 Parameters ............................................................................................ 7-1 

7.1 Definition ......................................................................................................... 7-1 

7.2 Parameter Summary .......................................................................................... 7-2 

7.3 Detailed Parameter Listings ............................................................................... 7-11 

Chapter 8 MODBUS Communications ..................................................................... 8-1 

8.1 Communication Hardware Interface ................................................................... 8-1 

8.2 Communication Parameter Settings ................................................................... 8-3 

8.3 MODBUS Communication Protocol ..................................................................... 8-6 

8.4 Communication Parameter Write-in and Read-out .............................................. 8-15 

Chapter 9 Troubleshooting .................................................................................... 9-1 

9.1 Fault Messages Table ........................................................................................ 9-1 

9.2 Potential Cause and Corrective Actions.............................................................. 9-4 

9.3 Clearing Faults .................................................................................................. 9-13 

Chapter 10 Specifications....................................................................................... 10-1 

10.1 Specifications of Servo Drives (ASDA-B2 Series) ................................................ 10-1 


ix


10.2 Specifications of Servo Motors (ECMA Series) ................................................... 10-4 

10.3 Servo Motor Speed-Torque Curves ................................................................... 10-8 

10.4 Overload Characteristics ................................................................................. 10-9 

10.5 Dimensions of Servo Drives ............................................................................. 10-11 

10.6 Dimensions of Servo Motors ............................................................................ 10-15 

Appendix A Accessories ........................................................................................ A-1 

Appendix B Maintenance and Inspection ............................................................... B-1 

x Revision January 2012


About this Manual… 

User Information 

Be sure to store this manual in a safe place. 

Due to constantly growing product range, technical improvement, alteration or changed texts, 

figures and diagrams, we reserve the right to make information changes within this manual 

without prior notice. 

Coping or reproducing any part of this manual, without written consent of Delta Electronics 

Inc. is prohibited. 

Technical Support and Service 

You are welcome to contact our Technical Support Team at the below numbers or visit our 

web site (http://www.delta.com.tw/industrialautomation/) if you need technical support, 

service, information, or if you have any questions in the use of this product. We look forward 

to serving your needs and are willing to offer our best support and service to you. 

ASIA 

DELTA ELECTRONICS, INC. 

Taoyuan Plant 3 

No.18, Xinglong Rd., 

Taoyuan City, Taoyuan County 33068, 

TAIWAN, R.O.C. 

TEL: 886-3-362-6301 

FAX: 886-3-362-7267 

JAPAN 

DELTA ELECTRONICS (JAPAN), INC. 

Tokyo Office 

DELTA SHIBADAIMON BUILDING 

2-1-14 SHIBADAIMON, MINATO-KU, 

TOKYO, 105-0012, JAPAN 

TEL: 81-3-5733-1111 

FAX: 81-3-5733-1211 

NORTH/SOUTH AMERICA 

DELTA PRODUCTS CORPORATION (USA) 

Raleigh Office 

P.O. BOX 12173 

5101 DAVIS DRIVE, 

RESEARCH TRIANGLE PARK, NC 27709, 

U.S.A. 

TEL: 1-919-767-3813 

FAX: 1-919-767-3969 

EUROPE 

DELTRONICS (THE NETHERLANDS) B.V. 

Eindhoven Office 

DE WITBOGT 15, 5652 AG EINDHOVEN, 

THE NETHERLANDS 

TEL: 31-40-259-2850 

FAX: 31-40-259-2851 


xi


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xii Revision January 2012

Chapter 1 Unpacking Check and Model Explanation 

1.1 Unpacking Check 

After receiving the AC servo drive, please check for the following: 

• Ensure that the product is what you have ordered. 

Verify the part number indicated on the nameplate corresponds with the part number of 

your order (Please refer to Section 1.2 for details about the model explanation). 

• Ensure that the servo motor shaft rotates freely. 

Rotate the motor shaft by hand; a smooth rotation will indicate a good motor. However, a 

servo motor with an electromagnetic brake can not be rotated manually. 

• Check for damage. 

Inspect the unit to insure it was not damaged during shipment. 

• Check for loose screws. 

Ensure that all necessary screws are tight and secure. 

If any items are damaged or incorrect, please inform the distributor whom you purchased the 

product from or your local Delta sales representative. 

A complete and workable AC servo system should include the following parts: 

Part I : Delta standard supplied parts 

(1) Servo drive 

(2) Servo motor 

(3) 5 PIN Terminal Block (for L1c, L2c, R, S, T) 

(4) 3 PIN Terminal Block (for U, V, W) 

(5) 4 PIN Terminal Block (for P , D, C, ) 

(6) One operating lever (for wire to terminal block insertion) 

(7) One jumper bar (installed at pins P and D of the 3 PIN Terminal Block for P , D, C) 

(8) Instruction Sheets 

Part II : Optional parts (Refer to Appendix A) 

(1) One power cable, which is used to connect servo motor to U, V, W terminals of servo 

drive. This power cable includes a green grounding cable. Please connect the green 

grounding cable to the ground terminal of the servo drive. 

Revision January 2012 1-1



(2) One encoder cable, which is used to connect the encoder of servo motor to the CN2 

terminal of servo drive. 

(3) CN1 Connector: 4 PIN Connector (3M type analog product) 

(4) CN2 Connector: 9 PIN Connector (3M type analog product) 

(5) CN3 Connector: 6 PIN Connector (IEEE1394 analog product) 

1.2 Model Explanation 

1.2.1 Nameplate Information 

ASDA-B2 Series Servo Drive 

• Nameplate Explanation 

• Serial Number Explanation 

ASMT Series Servo Motor 

• Nameplate Explanation 

• Serial Number Explanation 

1-2 Revision January 2012



1.2.2 Model Name Explanation 

ASDA-B2 Series Servo Drive 




ECMA Series Servo Motor 




1.3 Servo Drive and Servo Motor Combinations 

The table below shows the possible combination of Delta ASDA-B2 series servo drives and 

ECMA series servo motors. The boxes () in the model names are for optional configurations. 

(Please refer to Section 1.2 for model explanation) 

Power Servo Drive Servo Motor 

100W ASD-B2-0121-B ECMA-C20401S(S=8mm) 

200W ASD-B2-0221-B ECMA-C20602S(S=14mm) 

400W 

750W 

1000W 

ASD-B2-0421-B 



ECMA-C20604S (S=14mm) 

ECMA-CM0604S (S=14mm) 

ECMA-C208047 (7=14mm) 

ECMA-E21305S (S=22mm) 

ECMA-G21303S (S=22mm) 




ECMA-GM1306S (S=22mm) 





ECMA-GM1309S (S=22mm) 

1500W ASD-B2-1521-B ECMA-E21315S (S=22mm) 

2000W 

3000W 







ECMA-F21830S (S=35mm) 

The servo drives shown in the above table are designed for use in combination with the 

specific servo motors. Check the specifications of the drives and motors you want to use. 

Also, please ensure that both the servo drive and motor are correctly matched for size (power 

rating). If the power of motor and drive is not within the specifications, the drive and motor 

may overheat and servo alarm would be activated. For the detail specifications of servo drives 

and motors, please refer to Chapter 11 “Specifications”. 

The drives shown in the above table are designed according to the three multiple of rated 

current of motors shown in the above table. If the drives which are designed according to the 

six multiple of rated current of motors are needed, please contact our distributors or your 

local Delta sales representative. 




1.4 Servo Drive Features 




1.5 Control Modes of Servo Drive 

The Delta Servo provides six single and five dual modes of operation. 

Their operation and description is listed in the following table. 

Mode Code Description 

External Position Control 

P 

External Position control mode for the servo motor 

is achieved via an external pulse command. 

Speed Control 

S 

(External / Internal) Speed control mode for the 

servo motor can be achieved via parameters set 

within the controller or from an external analog -10 

~ +10 VDC command. Control of the internal speed 

mode is via the Digital Inputs (DI). (A maximum of 

three speeds can be stored internally). 

Single 

Mode 

Internal Speed Control 

Sz 

Internal Speed control mode for the servo motor is 

only achieved via parameters set within the 

controller. Control of the internal speed mode is via 

the Digital Inputs (DI). (A maximum of three speeds 

can be stored internally). 

Torque Control 

T 

(External / Internal) Torque control mode for the 



~ +10 VDC command. Control of the internal torque 


three torque levels can be stored internally). 

Internal Torque Control 

Tz 

Internal Torque control mode for the servo motor is 


controller. Control of the internal torque mode is 

via the Digital Inputs (DI). (A maximum of three 

torque levels can be stored internally). 

S-P 

Either S or P control mode can be selected via the 

Digital Inputs (DI) 

Dual Mode 

T-P 

Either T or P control mode can be selected via the 


S-T 

Either S or T control mode can be selected via the 


The above control modes can be accessed and changed via parameter P1-01. Enter the new 

control mode via P1-01 then switch the main power to the servo drive OFF then ON. The new 

control mode will only be valid after the drives main power is switched OFF then ON. Please 

see safety precautions on page iii (switching drive off/on multiple times). 






Chapter 2 Installation and Storage 

2.1 Installation Notes 

Please pay close attention to the following installation notes: 

• Do not bend or strain the connection cables between servo drive and motor. 

• When mounting the servo drive, make sure to tighten all screws to secure the drive in 

place. 

• If the servo motor shaft is coupled directly to a rotating device ensure that the alignment 

specifications of the servo motor, coupling, and device are followed. Failure to do so may 

cause unnecessary loads or premature failure to the servo motor. 

• If the length of cable connected between servo drive and motor is more than 20m, please 

increase the wire gauge of the encoder cable and motor connection cable (connected to U, 

V, W terminals). 

• Make sure to tighten the screws for securing motor. 

2.2 Storage Conditions 

The product should be kept in the shipping carton before installation. In order to retain the 

warranty coverage, the AC servo drive should be stored properly when it is not to be used for 

an extended period of time. Some storage suggestions are: 

• Store in a clean and dry location free from direct sunlight. 

• Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F). 

• Store within a relative humidity range of 0% to 90% and non-condensing. 

• Do not store in a place subjected to corrosive gases and liquids. 

• Store in original packaging and placed on a solid surface. 




2.3 Installation Conditions 

Operating Temperature 

ASDA-B2 Series Servo Drive : 

0°C to 55°C (32°F to 131°F) 

ECMA Series Servo Motor : 0°C to 40°C (32°F to 104°F) 

The ambient temperature of servo drive should be under 45°C (113°F) for long-term 

reliability. 

If the ambient temperature of servo drive is greater than 45°C (113°F), please install the drive 

in a well-ventilated location and do not obstruct the airflow for the cooling fan. 

Caution 

The servo drive and motor will generate heat. If they are installed in a control panel, please 

ensure sufficient space around the units for heat dissipation. 

Pay particular attention to vibration of the units and check if the vibration has impacted the 

electric devices in the control panel. Please observe the following precautions when selecting 

a mounting location. Failure to observe the following precautions may void the warranty! 

• Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct 

sunlight. 

• Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids, 

airborne dust or metallic particles. 

• Do not mount the servo drive or motor in a location where temperatures and humidity will 

exceed specification. 

• Do not mount the servo drive or motor in a location where vibration and shock will exceed 

specification. 

• Do not mount the servo drive or motor in a location where it will be subjected to high 

levels of electromagnetic radiation. 




2.4 Installation Procedure and Minimum Clearances 

Installation Procedure 

Incorrect installation may result in a drive malfunction or premature failure of the drive and or 

motor. Please follow the guidelines in this manual when installing the servo drive and motor. 

The ASDA-B2 servo drives should be mounted perpendicular to the wall or in the control panel. 

In order to ensure the drive is well ventilated, ensure that the all ventilation holes are not 

obstructed and sufficient free space is given to the servo drive. Do not install the drive in a 

horizontal position or malfunction and damage will occur. 

Drive Mounting 

The ASDA-B2 servo drives must be back mounted vertically on a dry and solid surface such as 

a NEMA enclosure. A minimum spacing of two inches must be maintained above and below 

the drive for ventilation and heat dissipation. Additional space may be necessary for wiring 

and cable connections. Also, as the drive conducts heat away via the mounting, the mounting 

plane or surface should not conduct heat into the drive from external sources 

Motor Mounting 

The ECMA servo motors should be mounted firmly to a dry and solid mounting surface to 

ensure maximum heat transfer for maximum power output and to provide a good ground. 

For the dimensions and weights specifications of servo drive or motor, please refer to Chapter 

11 “Specifications". 

Minimum Clearances 

Install a fan to increase ventilation to avoid ambient temperatures that exceed the 

specification. When installing two or more drives adjacent to each other please follow the 

clearances as shown in the following diagram. 




• Minimum Clearances 

• Side by Side Installation 




2.5 Circuit Interrupter and Fuse Current Recommended Value 

‣ Caution: Please use circuit interrupter and fuse which are recognized by and comply with 

the UL or CSA standards. 

Servo Drive Model Recommended Breaker Recommended Fuse (Class T) 

Operation Mode General General 

ASD-B2-0121-B 5A 5A 








NOTE 

1) When using a GFCI (Ground Fault Circuit Interrupter), select a current sensor with sensitivity of 

equal to or more than 200mA, and not less than 0.1-second detection time to avoid nuisance 

tripping. 




2.6 EMI Filter Selection 

AC Servo Drive - EMI Filter Cross Reference 

Item Power Servo Drive Model Recommended EMI Filter FootPrint 

1 100W ASD-B2-0121-B 08TDT1W4S N 



4 750W ASD-B2-0721-B 20TDT1W4D N 





Installation 

All electrical equipment, including AC servo drives, will generate high-frequency/lowfrequency 

noise and will interfere with peripheral equipment by radiation or conduction when 

in operation. By using an EMI filter with correct installation, much of the interference can be 

eliminated. It is recommended to use Delta’s EMI filter to have the best interference 

elimination performance. 

We assure that it can comply with following rules when AC servo drive and EMI filter are 

installed and wired according to user manual: 

• EN61000-6-4 (2001) 

• EN61800-3 (2004) PDS of category C2 

• EN55011+A2 (2007) Class A Group 1 

General Precaution 

To ensure the best interference elimination performance when using Delta’s EMI filter, please 

follow the guidelines in this user manual to perform wiring and/or installation. In addition, 

please also observe the following precautions: 

• EMI filter and AC servo drive should be installed on the same metal plate. 

• Please install AC servo drive on same footprint with EMI filter or install EMI filter as close 

as possible to the AC servo drive. 

• All wiring should be as short as possible. 

• Metal plate should be grounded. 

• The cover of EMI filter and AC servo drive or grounding should be fixed on the metal plate 

and the contact area should be as large as possible. 




Choose Suitable Motor Cable and Precautions 

Improper installation and choice of motor cable will affect the performance of EMI filter. Be 

sure to observe the following precautions when selecting motor cable. 

• Use the cable with shielding (double shielding is the best). 

• The shielding on both ends of the motor cable should be grounded with the minimum 

length and maximum contact area. 

• Remove any paint on metal saddle for good ground contact with the plate and shielding 

(Please refer to Figure 1 below). 

• The connection between the metal saddle and the shielding on both ends of the motor 

cable should be correct and well installed. Please refer to Figure 2 on next page for 

correct wiring method. 

Figure 1 

Saddle on both ends 

Saddle on one end 

Figure 2 




Dimensions 

Delta Part Number: 08TDT1W4S 

Delta Part Number: 20TDT1W4D 




2.7 Regenerative Resistor 

Built-in Regenerative Resistor 

When the output torque of servo motor in reverse direction of motor rotation speed, it 

indicates that there is a regenerative power returned from the load to the servo drive. This 

power will be transmitted into the capacitance of DC Bus and result in rising voltage. When 

the voltage has risen to some high voltage, the servo system need to dissipate the extra 

energy by using a regenerative resistor. ASDA-B2 series servo drive provides a built-in 

regenerative resistor and the users also can connect to external regenerative resistor if more 

regenerative capacity is needed. 

The following table shows the specifications of the servo drive’s built-in regenerative resistor 

and the amount of regenerative power (average value) that it can process. 

Built-in Regenerative Resistor Specifications 

Regenerative Power 

Resistance (Ohm) Capacity (Watt) processed by built-in 

(parameter P1-52) (parameter P1-53) regenerative resistor 

(Watt) * 1 

0.1 - - - 60 

0.2 - - - 60 

0.4 100 60 30 60 

0.75 100 60 30 60 

1.0 40 60 30 30 

Servo Drive 

(kW) 

Min. Allowable 

Resistance 

(Ohm) 

1.5 40 60 30 30 

2.0 40 60 30 15 

3.0 40 60 30 15 

*1 Regenerative Power Calculation: The amount of regenerative power (average value) that 

can be processed is rated at 50% of the capacity of the servo drive's built-in regenerative 

resistor. The regenerative power calculation method of external regenerative resistor is the 

same. 

When the regenerative power exceeds the processing capacity of the servo drive, install an 

external regenerative resistor. Please pay close attention on the following notes when using a 

regenerative resistor. 

1. Make sure that the settings of resistance (parameter P1-52) and capacity (parameter P1- 

53) is set correctly. 

2. When the users want to install an external regenerative resistor, ensure that its 

resistance value is the same as the resistance of built-in regenerative resistor. If 

combining multiple small-capacity regenerative resistors in parallel to increase the 

regenerative resistor capacity, make sure that the resistance value of the regenerative 

resistor should comply with the specifications listed in the above table. 

3. In general, when the amount of regenerative power (average value) that can be 

processed is used at or below the rated load ratio, the resistance temperature will 




increase to 120°C or higher (on condition that when the regeneration continuously 

occurred). For safety reasons, forced air cooling is good way that can be used to reduce 

the temperature of the regenerative resistors. We also recommend the users to use the 

regenerative resistors with thermal switches. As for the load characteristics of the 

regenerative resistors, please check with the manufacturer. 

External Regenerative Resistor 

When using external regenerative resistor, connect it to P and C, and make sure the circuit 

between P and D is open. We recommend the users should use the external regenerative 

resistor that the resistance value following the above table (Built-in Regenerative Resistor 

Specifications). We ignore the dissipative power of IGBT (Insulated Gate Bipolar Transistor) in 

order to let the users easily calculate the capacity of regenerative resistor. In the following 

sections, we will describe Regenerative Power Calculation Method and Simple Calculation 

Method for calculating the regenerative power capacity of external regenerative resistors. 

Regenerative Power Calculation Method 

(1) Without Load 

When there is no external load torque, if the servo motor repeats operation, the returned 

regenerative power generated when braking will transmitted into the capacitance of DC 

bus. After the capacitance voltage exceeds some high value, regenerative resistor can 

dissipate the remained regenerative power. Use the table and procedure described below 

to calculate the regenerative power. 

Servo Drive 

(kW) 

Servo Motor 

Rotor Inertia 

J (× 10 -4 kg.m 2 ) 

Regenerative power 

from empty load 

3000r/min to stop 

Eo (joule) 

Max. regenerative 

power of 

capacitance 

Ec(joule) 

0.1 ECMA-C20401 0.037 0.18 3 

0.2 ECMA-C20602 0.177 0.87 4 

Low 

Inertia 

0.4 ECMA-C20604 

ECMA-C20804 

0.277 

0.68 

1.37 

3.36 

0.75 ECMA-C20807 1.13 5.59 14 

8 

1.0 ECMA-C21010 2.65 13.1 18 

2.0 ECMA-C21020 4.45 22.0 21 

0.4 ECMA-E21305 8.17 40.40 8 

1.0 ECMA-E21310 8.41 41.59 18 

Medium 

Inertia 

1.5 ECMA-E21315 11.18 55.28 18 

2.0 ECMA-E21320 

ECMA-E21820 

14.59 

34.68 

72.15 

171.50 

21 

3.0 ECMA-E21830 54.95 271.73 28 




Servo Drive 

(kW) 

High 

Inertia 

Servo Motor 

Rotor Inertia 

J (× 10 -4 kg.m 2 ) 

Regenerative power 

from empty load 

3000r/min to stop 

Eo (joule) 

Max. regenerative 

power of 

capacitance 

Ec(joule) 

0.4 ECMA-G21303 8.17 40.40 8 

0.75 ECMA-G21306 8.41 41.59 14 

1.0 ECMA-G21309 11.18 55.29 18 

Eo = J x wr 2 /182 (joule) 

, Wr : r/min 

If the load inertia is N × motor inertia, the regenerative power will be (N+1) x E0 when 

servo motor brakes from 3000r/min to 0. Then, the regenerative resistor can dissipate: 

(N+1) x E0 - Ec (joule). If the time of repeat operation cycle is T sec, then the regenerative 

power = 2 x ((N+1) x E0 - Ec) / T. 

The calculating procedure is as follows: 

Step Procedure Equation and Setting Method 

1 

Set the capacity of 

regenerative resistor to the 

maximum 

Change the value of P1-53 to maximum 

2 Set the operation cycle T Input by the users 

3 Set motor speed wr 

4 Set load/motor inertia ratio N 

5 

6 

7 

Calculate the max. 

regenerative power Eo 

Set the regenerative power Ec 

that can be absorbed 

Calculate the required 

regenerative power capacity 

Input by the users or read via P0-02 Drive State 

Display 

Input by the users or read via P0-02 Drive State 

Display 

Eo = J x wr 2 /182 

Refer to the table above 

2 x (N+1) x Eo-Ec)/ T 

For example: 

If we use 400W servo drive, the time of repeat operation cycle is T = 0.4 sec, max. motor 

speed is 3000r/min, the load inertia = 7 × motor inertia, then the necessary the power of 

regenerative resistor = 2 x ( (7+1) × 1.68 - 8) / 0.4 = 27.2W. If the calculation result is 

smaller than regenerative power, we recommend the users to use the built-in 60W 

regenerative resistor. Usually the built-in regenerative resistor provided by ASDA-B2 series 

can meet the requirement of general application when the external load inertia is not 

excessive. 

The users can see when the capacity of regenerative resistor is too small, the accumulated 

power will be larger and the temperature will also increase. The fault, ALE05 may occur if 

the temperature is over high. The following figure shows the actual operation of 





(2) With Load 

When there is an external load torque, servo motor is in reverse rotation when external 

load greater than motor torque. Servo motor is usually in forward rotation and the motor 

torque output direction is the same as the rotation direction. However, there is still some 

special condition. If the motor output torque is in the reverse direction of rotation, the 

servo motor is also in the reverse direction of rotation. The external power is input into 

the servo drive through servo motor. The figure below is an example. The users can see 

the motor is in forward rotation at constant speed when a sudden external load torque 

change and great power is transmitted to regenerative resistor rapidly. 

Motor Rotation Speed 

External Load Torque 

Motor Output Torque 

Reverse 

Rotation 

Forward 

Rotation 

Reverse 

Rotation 

Forward 

Rotation 

External load torque in reverse direction: TL x Wr 

TL : External load torque 

For the safety, we strongly recommend the users should select the proper resistance value 

according to the load. 

For example: 

When external load torque is a +70% rated torque and rotation speed reaches 3000r/min, 

if using 400W servo drive (rated torque: 1.27Nt-m), then the users need to connect a 

external regenerative resistor which power is 2 x (0.7 x 1.27) x (3000 x 2 x π/ 60) = 560W, 

40Ω. 




Simple Calculation Method 

The users can select the adequate regenerative resistors according to the allowable frequency 

required by actual operation and the allowable frequency when the servo motor runs without 

load. The allowable frequency when the servo motor run without load is the maximum 

frequency that can be operated during continuous operation when servo motor accelerate 

from 0r/min to rated speed and decelerate from rated speed down to 0r/min. The allowable 

frequencies when the servo motor run without load are summarized in the following table. 

Allowable Frequencies for Servo Motor Running Without Load (times/min) 

When Using Built-in Regenerative Resistor 

Motor Capacity 

ECMA Series 

600W 750W 900W 1.0kW 1.5kW 2.0kW 2.0kW 3.0kW 

06 07 09 10 15 20 20 30 

ECMAC - 312 - 137 - 

83 

(F100) 

- 

ECMAE - - - 42 32 

24 

(F130) 

10 

(F180) 

11 

ECMAG 42 - 31 - - - - - 

( ) : motor frame size, unit is in millimeters. 

When the servo motor runs with load, the allowable frequency will change according to 

the changes of the load inertia and rotation speed. Use the following equation to calculate 

the allowable frequency. 

Allowable frequency = 

Allowable frequency when servo motor run without load 

m + 1 

x 

Rated speed 

Operating speed 

2 

times 

mi n. 

m = load/motor inertia ratio 




The users can select the adequate regenerative resistors according to the allowable 

frequency by referring to the table below: 

Allowable Frequencies for Servo Motor Running Without Load (times/min) 

When Using External Regenerative Resistor 

Delta External 

Regenerative Resistor 


ECMAC 

400W 400W 

100W 200W 

750W 1.0kW 2.0kW 

(F60) (F80) 

01 02 04 04 07 10 20 

BR400W040 (400W 40Ω) - - 8608 3506 2110 925 562 

BR1K0W020 (1kW 20Ω) - - - 8765 5274 2312 1406 




ECMAE 

0.5kW 1kW 1.5kW 2.0kW 2.0kW 3.0kW 

05 1.0 15 20 20 30 

BR400W040 (400W 40Ω) 291 283 213 

163 

(F130) 

68 

(F180) 

- 

BR1K0W020 (1kW 20Ω) 729 708 533 408 171 - 

BR3K0W010 (1kW 10Ω) - - - - - 331 




ECMAG 

0.3kW 0.6kW 0.9kW 

03 06 09 

BR400W040 (400W 40Ω) 292 283 213 

BR1K0W020 (1kW 20Ω) 729 708 533 

( ) : motor frame size, unit is in millimeters. 

When the regenerative resistor capacity is not enough, the users can connect to multiple 

the same capacity regenerative resistors in parallel to increase it. 




Dimensions 

Delta Part Number : BR400W040 (400W 40Ω) 

L1 L2 H D W MAX. WEIGHT(g) 

265 250 30 5.3 60 930 

Delta Part Number : BR1K0W020 (1kW 20Ω) 

L1 L2 H D W MAX. WEIGHT(g) 

400 385 50 5.3 100 2800 




NOTE 

1) Regarding the selection of regenerative resistor, please refer to the table of regenerative 

resistor specifications described in Appendix A. 


Chapter 3 Connections and Wiring 

This chapter provides information on wiring ASDA-B2 series products, the descriptions of I/O 

signals and gives typical examples of wiring diagrams. 

3.1 Connections 

3.1.1 Connecting to Peripheral Devices 




3.1.2 Servo Drive Connectors and Terminals 

Terminal 

Identification 

L1c, L2c 

R, S, T 

U, V, W 

FG ( ) 

P , D, C, 

Terminal 

Description 

Control circuit 

terminal 

Main circuit 

terminal 

Servo motor 

output 

Regenerative 

resistor terminal 

or braking unit 

two places Ground terminal 

Notes 

Used to connect single-phase AC control circuit 

power. (Control circuit uses the same voltage as the 

main circuit.) 

Used to connect single-phase or three-phase AC 

main circuit power depending on connecting servo 

drive model. 

Used to connect servo motor 

Terminal 

Wire Color 

Symbol 

Internal 

resistor 

External 

resistor 

Description 

U Red Connecting to 

V 

White 

three-phase 

motor main 

W 

Black circuit cable. 

FG( ) Green 

External 

braking unit 

Connecting to 

ground terminal 

( ) of the 

servo drive. 

Ensure the circuit is closed 

between P and D, and the circuit 

is open between P and C. 

Connect regenerative resistor to 

P and C, and ensure an open 

circuit between P and D. 

Connect braking unit to P and , 

and ensure an open circuit 

between P and D, and P and C. 

(N terminal is built in L1c, L2c, , 

and R, S, T.) 

P : Connecting to (+) terminal of 

V_BUS voltage. 

: Connecting to (-) terminal of 

V_BUS voltage. 

Used to connect grounding wire of power supply 

and servo motor. 




Terminal 


CN1 

CN2 

CN3 

CN4 

CN5 

Terminal 

Description 

I/O connector 

Encoder 

connector 

Communication 

connector 

Reserved 

connector 

Analog voltage 

output terminal 

Notes 

Used to connect external controllers. Please refer to 

section 3.3 for details. 

Used to connect encoder of servo motor. Please 

refer to section 3.4 for details. 

Terminal 

Symbol 

Wire Color PIN No. 

T+ Blue 4 

T- Blue/Black 5 

Reserved - 3 

Reserved - 2 

Reserved - 1 

Reserved - 9 

+5V Red / Red & White 8 

GND 

Black / Black & 

White 

6, 7 

Used to connect PC or keypad. Please refer to 

section 3.5 for details. 

Reserved 

Used to monitor the operation status. The drive 

provides two channels, MON1 and MON2 to output 

the analog voltage data. Output voltage is reference 

to the power ground (GND). 

NOTE 

1) U, V ,W , CN1, CN2, CN3 terminals provide short circuit protection. 




Wiring Notes 

Please observe the following wiring notes while performing wiring and touching any 

electrical connections on the servo drive or servo motor. 

1. Ensure to check if the power supply and wiring of the "power" terminals (R, S, T, 

L1c, L2c, U, V, & W) is correct. 

2. Please use shielded twisted-pair cables for wiring to prevent voltage coupling and 

eliminate electrical noise and interference. 

3. As a residual hazardous voltage may remain inside the drive, please do not 

immediately touch any of the "power" terminals (R, S, T, L1c, L2c, U, V, & W) and/or 

the cables connected to them after the power has been turned off and the charge 

LED is lit. (Please refer to the Safety Precautions on page ii). 

4. The cables connected to R, S, T and U, V, W terminals should be placed in separate 

conduits from the encoder or other signal cables. Separate them by at least 30cm 

(11.8 inches). 

5. If the encoder cable is too short, please use a twisted-shield signal wire with 

grounding conductor. The wire length should be 20m (65.62ft.) or less. For lengths 

greater than 20m (65.62ft.), the wire gauge should be doubled in order to lessen 

any signal attenuation. Regarding the specifications of 20m (65.62ft.) encoder 

cable, please choose wire gauge AWG26, UL2464 metal braided shield twisted-pair 

cable. 

6. As for motor cable selection, please use the 600V PTFE wire and the wire length 

should be less than 98.4ft. (30m). If the wiring distance is longer than 30m 

(98.4ft.), please choose the adequate wire size according to the voltage. 

7. The shield of shielded twisted-pair cables should be connected to the SHIELD end 

(terminal marked ) of the servo drive. 

8. For the connectors and cables specifications, please refer to section 3.1.6 for 

details. 




3.1.3 Wiring Methods 

For servo drives from 100W to 1.5kW the input power can be either single or three-phase. 

However, single -phase connections are for servo drives 1.5kW and below only. 

In the wiring diagram figures 3.2& 3.3: 

Power ON : contact “a” (normally open) 

Power OFF : contact “b” (normally closed) 

MC : coil of electromagnetic contactor, self-holding power, contact of main circuit power 

Figure 3.2 Single-Phase Power Supply (1.5kW and below) 




Figure 3.3 Three-Phase Power Supply (all models) 




3.1.4 Motor Power Cable Connector Specifications 

The boxes () in the model names are for optional configurations. (Please refer to section 

1.2 for model explanation.) 

Motor Model Name 

U, V, W / Electromagnetic Brake Connector 

Terminal 


ECMA-C20401S (100W) 

ECMA-C20602S (200W) 

ECMA-C20604S (400W) 

ECMA-CM0604PS (400W) 

ECMA-C208047 (400W) 

ECMA-C20807S (750W) 

HOUSING: JOWLE (C4201H00-2*2PA) 

A 

ECMA-C20602S (200W) 

ECMA-C20604S (400W) 


ECMA-C208047 (400W) 

ECMA-C20807S (750W) 

ECMA-C20907S (750W) 

ECMA-G21303S (300W) 

ECMA-E21305S (500W) 

ECMA-G21306S (600W) 

ECMA-GM1306PS (600W) 

ECMA-G21309S (900W) 


ECMA-C20910S (1000W) 

ECMA-C21010S (1000W) 

ECMA-E21310S (1000W) 

ECMA-E21315S (1500W) 

ECMA-C21020S (2000W) 

ECMA-E21320S (2000W) 

HOUSING: JOWLE (C4201H00-2*3PA) 

3106A-20-18S 

B 

C 

ECMA-E21820S (2000W) 

ECMA-E21830S (3000W) 

ECMA-F21830S (3000W) 

D 

3106A-24-11S 




Terminal 


U 

(Red) 

V 

(White) 

W 

(Black) 

CASE GROUND 

(Green) 

BRAKE1 

(Blue) 

BRAKE2 

(Brown) 

A 1 2 3 4 - - 

B 1 2 4 5 3 6 

C F I B E G H 

D D E F G A B 

NOTE 

1) The coil of brake has no polarity. The names of terminal identification are BRAKE1 (Blue) 

and BRAKE2 (Brown). 

2) The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage. 




3.1.5 Encoder Connector Specifications 

Encoder Cable Connection (Diagram 1) 

Servo Drive 

CN2 Connector 

*2 Quick Connector 

*1 

Connector of 

Encoder Cable 

(Drive Side) 

Connector of 

Encoder Cable 

(Motor Side) 

Servo Motor 

NOTE 

The scale of the objects does not match the dimensions as shown in the 

drawing above. For different models of AC servo drives and motors, the 

connection cables may differ. 

1) Please refer to the descriptions of “Terminal Identification of Encoder 

Connector” on page 3-10. 

2) Please refer to section 3.4 for the descriptions of “Encoder Connector CN2”. 

The boxes () in the model names are for optional configurations (keyway, brake and oil 

seal). (Please refer to section 1.2 for model explanation.) 


Encoder Connector 

ECMA-C20401S (100W) 

ECMA-C20602S (200W) 

ECMA-C20604S (400W) 


ECMA-C208047 (400W) 

ECMA-C20807S (750W) 

ECMA-C20907S (750W) 

9 

8 

7 

6 

5 

4 

3 

2 

1 

View from 

this side 

3 

View from 2 

this side 1 

HOUSING: AMP (1-172161-9) 

6 

5 

4 

9 

8 

7 




Terminal Identification of Encoder Connector 

Connector of Encoder 

Cable (Drive Side) 

Housing : AMP(1-172161-9) 

Connector of Encoder 

Cable (Motor Side) 

Servo Drive 

(CN2) 

View from this side 

View from this side 

Motor 

Encoder 

1 2 3 

Blue Green 

T+ (Reserved) (Reserved) 

4 5 6 

Green/ 

Blue/Black 

Black 

T- (Reserved) (Reserved) 

7 

Red/ 

8 

Black/Black 

9 

Red&White &White 

DC+5V GND 

Shield 

3 2 1 

Black White 

(Reserved) (Reserved) T+ 

6 5 

Red/Black 

4 

White/Red 

(Reserved) (Reserved) T- 

9 8 7 

Shield 

Blue Brown 

GND DC+5V 

The core color of the drive encoder connector 

is for reference only. For the actual core color, 

please refer to the actual purchased product. 

1 

2 2 

1 

Motor 

Encoder 

3 3 

4 4 

‧ ‧ 

‧ ‧ 

‧ ‧ 

Servo Drive 

(CN2) 

If the users do not use the connector (without housing) and connect the cores from the 

cable for wiring, please follow the terminal identification and core number of encoder 

connector shown in the above table to complete the wiring. The users need to connect 

core #1 to core #1, core #2 to core #2 and so on. To ease connection and to avoid wiring 

error, it is recommended to number the cores first in accordance with the terminal 

identification and then conducting the wiring. 




Encoder Cable Connection (Diagram 2) 

Servo Drive 

* 1 

CN2 Connector 

Military 

Connector 

Connector of 

Encoder Cable 

Servo Motor 

NOTE 

The scale of the objects does not match the dimensions as shown in the 

drawing above. For different models of AC servo drives and motors, the 

connection cables may differ. 

1) Please refer to section 3.4 for the descriptions of “Encoder Connector CN2”. 




The boxes () in the model names are for optional configurations (keyway, brake and oil 

seal). (Please refer to section 1.2 for model explanation.) 


ECMA-G21303S (300W) 

ECMA-E21305S (500W) 

ECMA-G21306S (600W) 


ECMA-G21309S (900W) 


ECMA-C20910S (1000W) 

ECMA-C21010S (1000W) 

ECMA-E21310S (1000W) 

ECMA-E21315S (1500W) 

ECMA-C21020S (2000W) 

ECMA-E21320S (2000W) 

ECMA-E21820S (2000W) 

ECMA-E21830S (3000W) 

ECMA-F21830S (3000W) 

View from 

this side 

B 

A 

M 

C N L 

P T 

D 

K 

R S 

E J 

F G H 

3106A-20-29S 

Military Connector 

Encoder Connector 

Pin 

No. 

Terminal 


Color 

A T+ Blue 

B T - 

S 

R 

L 

DC+5V 

GND 

BRAID 

SHIELD 

Blue& 

Black 

Red/Red 

&White 

Black/ 

Black& 

White 

– 

Please note: 

1. The shield of shielded twisted-pair cables should be connected to the SHIELD end 


2. For the connectors and cables specifications, please refer to section 3.1.6 for details. 




3.1.6 Cable Specifications for Servo Drive 

The boxes () in the model names are for optional configurations. (Please refer to section 

1.2 for model explanation.) 

Power Cable 

Servo Drive and Servo Motor 

ASD-B2-0121- ECMA-C20401S 

ASD-B2-0221- ECMA-C20602S 

ECMA-C20604S 

ECMA-CM0604PS 

ASD-B2-0421- ECMA-C208047 

ECMA-E21305S 

ECMA-G21303S 

ECMA-C20807S 

ASD-B2-0721- 


ECMA-C20907S 

ECMA-G21306S 

ECMA-GM1306PS 

ECMA-C21010S 

ECMA-C20910S 

ECMA-E21310S 

ECMA-G21309S 

ECMA-GM1309PS 

ASD-B2-1521- ECMA-E21315S 

ECMA-C21020S 

ASD-B2-2023- ECMA-E21320S 

ECMA-E21820S 

ECMA-E21830S 


ECMA-F21830S 

Power Cable - Wire Gauge AWG (mm 2 ) 

L1c, L2c R, S, T U, V, W P , C 

1.3 

2.1 

0.82 

2.1 

(AWG16) (AWG14) (AWG18) (AWG14) 

1.3 

2.1 

0.82 

2.1 

(AWG16) (AWG14) (AWG18) (AWG14) 

1.3 

2.1 

0.82 

2.1 

(AWG16) (AWG14) (AWG18) (AWG14) 

1.3 

2.1 

0.82 

2.1 

(AWG16) (AWG14) (AWG18) (AWG14) 

1.3 

2.1 

0.82 

2.1 

(AWG16) (AWG14) (AWG18) (AWG14) 

1.3 

2.1 

0.82 

2.1 

(AWG16) (AWG14) (AWG18) (AWG14) 

1.3 

2.1 

0.82 

2.1 

(AWG16) (AWG14) (AWG18) (AWG14) 

1.3 

2.1 

0.82 

2.1 

(AWG16) (AWG14) (AWG18) (AWG14) 

1.3 

2.1 

0.82 

2.1 

(AWG16) (AWG14) (AWG18) (AWG14) 

1.3 

2.1 

0.82 

2.1 

(AWG16) (AWG14) (AWG18) (AWG14) 

1.3 

2.1 

0.82 

2.1 

(AWG16) (AWG14) (AWG18) (AWG14) 

1.3 

2.1 

1.3 

2.1 

(AWG16) (AWG14) (AWG16) (AWG14) 

1.3 

2.1 

1.3 

2.1 

(AWG16) (AWG14) (AWG16) (AWG14) 

1.3 

2.1 

1.3 

2.1 

(AWG16) (AWG14) (AWG16) (AWG14) 

1.3 

2.1 

1.3 

2.1 

(AWG16) (AWG14) (AWG16) (AWG14) 

1.3 

2.1 

1.3 

2.1 

(AWG16) (AWG14) (AWG16) (AWG14) 

1.3 

2.1 

1.3 

2.1 

(AWG16) (AWG14) (AWG16) (AWG14) 

1.3 

2.1 

2.1 

2.1 

(AWG16) (AWG14) (AWG14) (AWG14) 

1.3 

2.1 

2.1 

2.1 

(AWG16) (AWG14) (AWG14) (AWG14) 

1.3 

2.1 

3.3 

2.1 

(AWG16) (AWG14) (AWG12) (AWG14) 

1.3 

2.1 

3.3 

2.1 

(AWG16) (AWG14) (AWG12) (AWG14) 

1.3 

2.1 

3.3 

2.1 

(AWG16) (AWG14) (AWG12) (AWG14) 




Encoder Cable 

Servo Drive 

Encoder Cable - Wire Gauge AWG (mm 2 ) 

Wire Size Core Number UL Rating 

Standard Wire 

Length 

ASD-B2-0121- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) 








NOTE 

1) Please use shielded twisted-pair cables for wiring to prevent voltage coupling and 

eliminate electrical noise and interference. 

2) The shield of shielded twisted-pair cables should be connected to the SHIELD end 


3) In order to prevent fire hazard and accidents, please form the wiring by following the 

cable specifications outlined above. 

4) The boxes () at the ends of the servo drive model names represent the model type of 

ASDA-B2 series. For the actual model name, please refer to the ordering information of 

the actual purchased product. 

5) The boxes () in the servo motor model names are for optional configurations (keyway, 

brake and oil sea). 




3.2 Basic Wiring 

Figure 3.4 Basic Wiring Schematic of 400W and below models (with built-in 

regenerative resistor, but without cooling fan) 

Power 

1-phase/3-phase 

200~230V 

P 

Connect to external 

regenerative resistor 

D 

C 

Servo Drive 

PRB 60W 

IPM Module 

R 

S 

T 

D 

U 

V 

Servo 

Motor 

M 

L1C 

s 

o 

L 

s 

e 

a 

tio 

n 

c 

te 

e 

c 

tifie 

e 

R 

it 

u 

irc 

C 

r 

±15V 

e 

n 

e 

g 

e 

R 

ra 

tio 

n 

it 

u 

irc 

C 

W 

Encoder 

L2C 

n 

o 

C 

tro 

l 

P 

+5V 

+3.3V 

Protection 

Circuit 

GATE 

DRIVE 

o 

h 

P 

+24V 

External Speed 

External Torque 

Position Pulse 

Digital Input 

Encoder Signal 

A, B, Z Output 

Digital Output 

N 

C 

1 

A/D 

r 

e 

w 

Position 

Control 

Speed 

Control 

Current 

Control 

Current 

Signal 

Processing 

PWM 

A/D 

Encoder 

Signal 

Processing 

CN2 

Serial 

Communication 

RS-232/RS-485 

CN3 

DSP 

Data 

Bus 

CPLD 

CHARGE 

MODE 

Display 

SHIFT 

SET 

Battery 

CN4 

D/A 

CN5 

Analog 

Monitor 

Output 




Figure 3.5 Basic Wiring Schematic of 750W model (with built-in regenerative resistor, 

but without cooling fan) 




Figure 3.6 Basic Wiring Schematic of 1kW~1.5kW models (with built-in regenerative 

resistor and cooling fan) 




Figure 3.7 Basic Wiring Schematic of 2kW~3kW models (with built-in regenerative 

resistor and cooling fan) 




3.3 Input / Output Interface Connector - CN1 

The CN1 Interface Connector provides access to three signal groups: 

i 

General interface for the analog speed and torque control, encoder reference signal from 

the motor, pulse / direction inputs, and reference voltages. 

ii 8 programmable Digital Inputs (DI), can be set via parameters P2-10 ~ P2-17 

iii 5 programmable Digital Outputs (DO), can be set via parameters P2-18 ~ P2-22 

A detailed explanation of each group is available in Section 3.3.2, Tables 3.A, 3.B & 3.C. 

3.3.1 CN1 Terminal Identification 

Figure 3.8 The Layout of CN1 Drive Connector 

Side View 

Rear View 

CN1 Terminal Signal Identification 




16 DO6+ Digital output 

1 DO4+ Digital output 31 DI7- Digital input 

+24V power 

17 VDD output (for 

2 DO3- Digital output 

external I/O) 

32 DI6- Digital input 

Analog torque 

18 T_REF 

Input 

3 DO3+ Digital output 33 DI5- Digital input 

Analog input 

19 GND 

signal ground 

4 DO2- Digital output 34 DI3- Digital input 

Analog speed 

20 V_REF 

input (+) 

Pulse applied 

5 DO2+ Digital output 35 PULL HI 

Encoder 

power 

21 OA 

A pulse output 

High-speed 

6 DO1- Digital output 36 /HPULSE position pulse 

Encoder 

22 /OA 

(-) 

/A pulse output 

7 DO1+ Digital output 37 /SIGN Position sign (-) 

23 /OB 

Encoder /B 

pulse output 

High-speed 

8 DI4- Digital input 38 HPULSE position pulse 

(+) 

24 /OZ 

Encoder /Z 

pulse output 

9 DI1- Digital input 39 SIGN 

Encoder B pulse 

25 OB 

output 

10 DI2- Digital input 40 /HSIGN 

11 COM+ 

Power 

input (12~24V) 



12 DI9- Digital input 42 HSIGN 

13 OZ 

14 COM- 

Encoder Z 

pulse 

Line-driver 

output 

VDD(24V) 

power 

ground 


28 DO5+ Digital output 

29 GND 

Analog input 

signal ground 

30 DI8- Digital input 

Position sign 

(+) 

High-speed 

position sign (-) 

41 /PULSE Pulse input (-) 

High-speed 

position sign 

(+) 

43 PULSE Pulse input (+) 

44 OCZ 

Encoder Z 

pulse 

Line-driver 

output 




3.3.2 Signals Explanation of Connector CN1 

Table 3.A General Signals 

Signal Pin No Details 

Wiring Diagram 

(Refer to 3.3.3) 

Analog 

Signal 

Input 

V_REF 20 

1. Motor speed command: -10V to +10V, 

corresponds to -3000 ~ +3000 r/min 

speed command (Factory default setting). 

2. Motor speed command: -10V to +10V, 

corresponds to -3 ~ +3 rotations position 

command (Factory default setting). 

C1 

T_REF 18 

Motor torque command: -10V to +10V, 

corresponds to -100% to +100% rated torque 

command. 

C1 

Position 

Pulse 

Input 

PULSE 

/PULSE 

SIGN 

/SIGN 

PULL HI 

43 

41 

39 

37 

35 

The drive can accept two different types of 

pulse inputs: Line Driver (The max. input 

frequency is 500kHz) and Open Collector 

(The max. input frequency is 200kHz). 

Three different pulse commands can be 

selected via parameter P1-00. Quadrature, 

CW + CCW pulse & Pulse / Direction. 

Should an Open Collector type of pulse be 

used this terminal must be connected to an 

external power supply to be lulled high. 

C3/C4 

Highspeed 

Position 

Pulse 

Input 

HPULSE 

/HPULSE 

HSIGN 

/HSIGN 

38 

36 

42 

40 

The drive can accept two different types of 

high-speed pulse inputs: +5V input and Linedriver 

input. The max. input frequency is 

4MHz. Three different pulse commands can 

be selected via parameter P1-00. They are A 

phase + B phase (Quadrature), CW pulse + 

CCW pulse, and Pulse + Direction. 

C4-2 

OA 

21 

Position 

Pulse 

Output 

/OA 

OB 

/OB 

OZ 

/OZ 

22 

25 

23 

13 

24 

Encoder signal output A, B, Z (Line-driver 

output). The motor encoder signals are 

available through these terminals. 

C13/C14 

OCZ 44 

VDD 17 

Encoder signal output Z (Open-collector 

output). 

VDD is the +24V source voltage provided by 

the drive. Maximum permissible current 

500mA. 

C15 

Power 

COM+ 

COM- 

11 

14 

COM+ is the common voltage rail of the 

Digital Input and Digital Output signals. 

Connect VDD to COM+ for source mode. 

For external applied power sink mode (+12V 

to +24V), the positive terminal should be 

connected to COM+ and the negative to 

COM-. 

- 







Power GND 19 

The polarity of VDD is with respect to 

Ground (GND). 

- 

Signals Explanation of Connector CN5 




Analog 

Monitor 

Output 

MON1 

GND 

MON2 

1 

2 

3 

Monitor operation status: 

Motor characteristics such as speed and 

current can be represented by analog 

voltages. The drive provides two channels 

(MON1 and MON2) which can be configured 

with the parameter P0-03 to output the 

desired characteristics. 

Please refer to the parameter P0-03 for 

monitoring commands and P1-04 / P1-05 for 

scaling factors. 

Output voltage is reference to the power 

ground (GND). 

C2 

The Digital Input (DI) and Digital Output (DO) have factory default settings which 

correspond to the various servo drive control modes. (See section 1.5). However, both the 

DI's and DO's can be programmed independently to meet the requirements of the users. 

Detailed in Tables 3.B and 3.C are the DO and DI functions with their corresponding 

signal name and wiring schematic. The factory default settings of the DI and DO signals 

are detailed in Table 3.F and 3.G. 

All of the DI's and DO's and their corresponding pin numbers are factory set and nonchangeable, 

however, all of the assigned signals and control modes are user changeable. 

For Example, the factory default setting of DO5 (pins 28/27) can be assigned to DO1 

(pins 7/6) and vise versa. 

The following Tables 3.B and 3.C detail the functions, applicable operational modes, 

signal name and relevant wiring schematic of the default DI and DO signals. 




Table 3.B DO Signals 

DO 

Signal 

Assigned 

Control Mode 

Pin No. 

(Default) 

+ - 

Details 



SRDY ALL 7 6 

SON Not assigned - - 

ZSPD ALL 5 4 

TSPD 

ALL 

(except PT) 

- - 

TPOS PT, PT-S, PT-T 1 26 

TQL Not assigned - - 

ALRM ALL 28 27 

BRKR ALL - - 

OLW ALL - - 

WARN ALL - - 

S_CMP S, Sz - - 

SRDY is activated when the servo drive 

is ready to run. All fault and alarm 

conditions, if present, have been 

cleared. 

Servo ready (SRDY) is "ON" where the 

servo is ready to run, NO fault / alarm 

exists. 

ZSPD is activated when the drive 

senses the motor is equal to or below 

the Zero Speed Range setting as 

defined in parameter P1-38. 

TSPD is activated once the drive has 

detected the motor has reached the 

Target Rotation Speed setting as 


1. When the drive is in PT mode, TPOS 

will be activated when the position 

error is equal and below the setting 

value of P1-54. 

TQL is activated when the drive has 

detected that the motor has reached 

the torques limits. 

ALRM is activated when the drive has 

detected a fault condition. (However, 

when Reverse limit error, Forward limit 

error, Emergency stop, Serial 

communication error, and 

Undervoltage these fault occur, WARN 

is activated first.) 

BRKR is the control terminal of motor 

brake. 

OLW is activated when the servo drive 

has detected that the motor has 

reached the output overload level . 

Servo warning output. WARN is 

activated when the drive has detected 

Reverse limit error, Forward limit error, 

Emergency stop, Serial communication 

error, and Undervoltage these fault 

conditions. 

SP_CMP will be activated when the 

speed error is equal and below the 

setting value of P1-47. 

C5/C6/C7/C8 

SDO_0 ALL - - Output the status of bit00 of P4-06. 






DO 

Signal 

Assigned 

Control Mode 

Pin No. 

(Default) 

+ - 

Details 










C5/C6/C7/C8 

SDO_A ALL - - Output the status of bit10 of P4-06. 

SDO_B ALL - - Output the status of bit11 of P4-06. 

SDO_C ALL - - Output the status of bit12 of P4-06. 

SDO_D ALL - - Output the status of bit13 of P4-06. 

SDO_E ALL - - Output the status of bit14 of P4-06. 

SDO_F ALL - - Output the status of bit15 of P4-06. 

NOTE 

1) PINS 3 & 2 can TSPD when control mode S is selected. 

2) The DO signals that do not have pin numbers in Tables 3.B are not default DO signals. If 

the users want to use these non-default DO signals, the users need to change the settings 

of parameters P2-18 ~ P2-22. The “state” of the output function may be turned ON or OFF 

as it will be dependant on the settings of parameters P2-18 ~ P2-22. Please refer to section 

3.3.3 for details. 

Table 3.C DI Signals 

DI 

Signal 

Assigned 

Control 

Mode 

Pin No. 

(Default) 

Details 



SON ALL 9 Servo On. Switch servo to "Servo Ready". 

ARST ALL 33 

A number of Faults (Alarms) can be 

cleared by activating ARST. 

GAINUP ALL - Gain switching 

CCLR PT 10 

ZCLAMP ALL - 

When CCLR is activated the setting is 

parameter P2-50 Pulse Clear Mode is 

executed. 

When this signal is On and the motor 

speed value is lower than the setting 

value of P1-38, it is used to lock the 

motor in the instant position while 

ZCLAMP is On. 

C9/C10 

C11/C12 




DI 

Signal 

Assigned 

Control 

Mode 

Pin No. 

(Default) 

Details 



CMDINV T, S - 

TRQLM S, Sz 10 

SPDLM T, Tz 10 

When this signal is On, the motor is in 

reverse rotation. 

ON indicates the torque limit command is 

valid. 

ON indicates the speed limit command is 

valid. 

STOP - - Motor stop. 

SPD0 

S, Sz, 

SPD1 PT-S, S-T 8 

TCM0 

PT, T, Tz, 

PT-T 

TCM1 S-T 8 

34 Select the source of speed command: 

See table 3.D. 

34 Select the source of torque command: 

See table 3.E. 

S-P PT-S 31 

S-T S-T 31 

T-P PT-T 31 

EMGS ALL 30 

NL(CWL) 

PT, S, T 

Sz, Tz 

32 

Speed / Position mode switching 

OFF: Speed, ON: Position 

Speed / Torque mode switching 

OFF: Speed, ON: Torque 

Torque / Position mode switching 

OFF: Torque, ON: Position 

It should be contact “b” and normally ON 

or a fault (ALRM) will display. 

Reverse inhibit limit. It should be contact 

“b” and normally ON or a fault (ALRM) will 

display. 

C9/C10 

C11/C12 

PL(CCWL) 

PT, S, T 

Sz, Tz 

31 

Forward inhibit limit. It should be contact 

“b” and normally ON or a fault (ALRM) will 

display. 

TLLM 

Not 

assigned 

- 

Reverse operation torque limit (Torque 

limit function is valid only when P1-02 is 

enabled) 

TRLM 

Not 

assigned 

- 

Forward operation torque limit (Torque 

limit function is valid only when P1-02 is 

enabled) 

JOGU ALL - 

JOGD ALL - 

GNUM0 PT, PT-S - 

GNUM1 PT, PT-S - 

Forward JOG input. When JOGU is 

activated, the motor will JOG in forward 

direction. 

Reverse JOG input. When JOGD is 

activated, the motor will JOG in reverse 

direction. 

Electronic gear ratio (Numerator) 

selection 0 [See P2-60~P2-62] 

Electronic gear ratio (Numerator) 

selection 1 [See P2-60~P2-62] 




DI 

Signal 

Assigned 

Control 

Mode 

Pin No. 

(Default) 

Details 



INHP PT, PT-S - 

Pulses inhibit input. When the drive is in 

position mode, if INHP is activated, the 

external pulse input command is not 

valid. 

C9/C10 

C11/C12 

NOTE 

1) The DI signals that do not have pin numbers in Tables 3.C are not default DI signals. If the 

users want to use these non-default DI signals, the users need to change the settings of 

parameters P2-10 ~ P2-17. The “state” of the output function may be turned ON or OFF as it 

will be dependant on the settings of parameters P2-10 ~ P2-17. Please refer to section 

3.3.3 for details. 

Table 3.D Source of Speed Command 

SPD1 SPD0 Parameter 

OFF 

OFF 

S mode: analog input 

Sz mode: 0 

OFF ON P1-09 

ON OFF P1-10 

ON ON P1-11 

Table 3.E Source of Torque Command 

TCM1 TCM0 Parameter 

OFF 

OFF 

T mode: analog input 

Tz mode: 0 

OFF ON P1-12 

ON OFF P1-13 

ON ON P1-14 

The default DI and DO signals in different control mode are listed in the following table 

3.F and table 3.G. Although the content of the table 3.F and table 3.G do not provide 

more information than the table 3.B and table 3.C above, as each control mode is 

separated and listed in different row, it is easy for user to view and can avoid confusion. 

However, the Pin number of each signal can not be displayed in the table 3.F and table 

3.G. 




Table 3.F Default DI signals and Control modes 

Signal 

DI 

Code 

Function PT S T Sz Tz PT-S PT-T S-T 

SON 01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 

ARST 02 Reset DI5 DI5 DI5 DI5 DI5 

GAINUP 03 

Gain switching in 

speed and position 

mode 

CCLR 04 Pulse clear DI2 DI2 DI2 

ZCLAMP 05 Low speed CLAMP 

CMDINV 06 

Command input 

reverse control 

Reserved 07 Reserved 


TRQLM 09 Torque limit enabled DI2 DI2 

SPDLM 10 Speed limit enabled DI2 DI2 

STOP 46 Motor stop 

SPD0 14 

SPD1 15 

TCM0 16 

TCM1 17 

S-P 18 

S-T 19 

T-P 20 

Speed command 

selection 0 

Speed command 

selection 1 

Torque command 

selection 0 


selection 1 

Position / Speed 

mode switching (OFF: 

Speed, ON: Position) 

Speed / Torque mode 

switching (OFF: 

Speed, ON: Torque) 

Torque / Position 

mode switching (OFF: 

Torque, ON: Position) 

DI3 DI3 DI3 DI3 

DI4 DI4 DI4 DI4 

DI3 DI3 DI3 DI3 DI5 

DI4 DI4 DI4 DI4 DI6 

DI7 

DI7 

DI7 

Reserved 2C Reserved 

Reserved 2D Reserved 

EMGS 21 Emergency stop DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 

NL(CWL) 22 Reverse inhibit limit DI6 DI6 DI6 DI6 DI6 

PL(CCWL) 23 Forward inhibit limit DI7 DI7 DI7 DI7 DI7 


TLLM 25 

Reverse operation 

torque limit 




Signal 

DI 

Code 


TRLM 26 

Forward operation 

torque limit 



JOGU 37 Forward JOG input 

JOGD 38 Reverse JOG input 

GNUM0 43 

GNUM1 44 

Electronic gear ratio 

(Numerator) selection 

0 

Electronic gear ratio 

(Numerator) selection 

1 

INHP 45 Pulse inhibit input 

NOTE 

1) For Pin numbers of DI1~DI8 signals, please refer to section 3.3.1. 

Table 3.G Default DO signals and Control modes 

Signal 

DO 

Code 


SRDY 01 Servo ready DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 

SON 

02 Servo On 

ZSPD 03 Zero speed DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 

TSPD 04 Speed reached DO3 DO3 DO3 DO3 DO3 DO3 DO3 

TPOS 

05 Positioning 

completed 

DO4 

DO4 DO4 

TQL 

06 

Reached torques 

limits 

ALRM 

07 

Servo alarm output 

(Servo fault) 

DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 

BRKR 

08 Electromagnetic 

brake 

DO4 DO4 DO4 DO4 

OLW 

WARN 

SNL(SCWL) 

SPL(SCCWL) 

10 

11 

13 

14 

Output overload 

warning 

Servo warning 

output 

Reverse software 

limit 

Forward software 

limit 




Signal 

SP_OK 

SDO_0 

SDO_1 

SDO_2 

SDO_3 

SDO_4 

SDO_5 

SDO_6 

SDO_7 

SDO_8 

SDO_9 

SDO_A 

SDO_B 

SDO_C 

SDO_D 

SDO_E 

SDO_F 

DO 

Code 

19 

30 

31 

32 

33 

34 

35 

36 

37 

38 

39 

3A 

3B 

3C 

3D 

3E 

3F 


Speed reached 

output 

Output the status of 

bit00 of P4-06. 


bit01 of P4-06. 


bit02 of P4-06. 


bit03 of P4-06. 


bit04 of P4-06. 


bit05 of P4-06. 


bit06 of P4-06. 


bit07 of P4-06. 


bit08 of P4-06. 


bit09 of P4-06. 


bit10 of P4-06. 


bit11 of P4-06. 


bit12 of P4-06. 


bit13 of P4-06. 


bit14 of P4-06. 


bit15 of P4-06. 

NOTE 

1) For Pin numbers of DO1~DO6 signals, please refer to section 3.3.1. 




3.3.3 Wiring Diagrams of I/O Signals (CN1) 

The valid voltage range of analog input command in speed and torque mode is -10V 

~+10V. The command value can be set via relevant parameters. 

C1: Speed / Torque analog signal input C2: Analog monitor output (MON1, MON2) 

There are two kinds of pulse inputs, Line driver input and Open-collector input. Max. 

input pulse frequency of Line driver input is 500kpps and max. input pulse frequency of 

Open-collector input is 200kpps. 

C3-1: Pulse input, for the use of internal power supply (Open-collector input) 




C3-2: Pulse input, for the use of external power supply (Open-collector input) 

‣ Caution: Do not use dual power supply. Failure to observe this caution may result in 

damage to the servo drive and servo motor. 

C4-1: Pulse input (Line driver) It requires 5V power supply only. Never apply a 24V power 

supply. 




C4-2: High-speed pulse input (Line driver). It requires 5V power supply only. Never apply 

a 24V power supply. 

‣ Caution: The high-speed pulse input interface is not an isolated input interface. 

To prevent noise and interference, ensure that the ground terminal of the controller and 

the servo drive should be connected to each other. 

Be sure to connect a diode when the drive is applied to inductive load. 

(Permissible current: 40mA, Instantaneous peak current: max. 100mA) 

C5: Wiring of DO signal, for the use of 

internal power supply, general load 


internal power supply, inductive load 





external power supply, general load 


external power supply, inductive load 

Use a relay or open-collector transistor to input signal. 

NPN transistor with multiple emitter fingers (SINK Mode) 

C9: Wiring of DI signal, for the use of 

internal power supply 


external power supply 

PNP transistor with multiple emitter fingers (SOURCE Mode) 


internal power supply 


external power supply 

‣ Caution: Do not use dual power supply. Failure to observe this caution may result in 

damage to the servo drive and servo motor. 




C13: Encoder output signal (Line driver) C14: Encoder output signal (Photocoupler) 

Servo Drive 

Max. output 

current is 20mA 

Controller 

Servo Drive 

Max. output 

current is 20mA 

Controller 

AM26CS31 Type 

OA 21 

AM26CS31 Type 

OA 21 

200Ω 

/OA 22 

OB 25 

125Ω 

/OA 22 

OB 25 

200Ω 

High speed 

photocoupler 

/OB 23 

OZ 13 

125Ω 

/OB 23 

OZ 13 

200Ω 

High speed 

photocoupler 

/OZ 24 

125Ω 

SG 

/OZ 24 

SG 

High speed 

photocoupler 

C15: Encoder OCZ output (Open-collector Z-pulse output) 

Servo Drive 

Max. Spec: 30V 

100mA 

24V 

OCZ 44 

GND 29 




3.3.4 User-defined DI and DO signals 

If the default DI and DO signals could not be able to fulfill users’ requirements, there are 

still user-defined DI and DO signals. The setting method is easy and they are all defined 

via parameters. The user-defined DI and DO signals are defined via parameters P2-10 to 

P2-17 P2-36 and P2-18 to P2-22 and P-37. Please refer to the following Table 3.H for the 

settings. 

Table 3.H User-defined DI and DO signals 

Signal Name Pin No. Parameter Signal Name Pin No. Parameter 

DI 

DI1- CN1-9 P2-10 

DO1+ CN1-7 

DI2- CN1-10 P2-11 DO1- CN1-6 

DI3- CN1-34 P2-12 DO2+ CN1-5 

DI4- CN1-8 P2-13 DO2- CN1-4 

DI5- CN1-33 P2-14 DO3+ CN1-3 

DI6- CN1-32 P2-15 DO3- CN1-2 

DO 

DI7- CN1-31 P2-16 DO4+ CN1-1 

DI8- CN1-30 P2-17 DO4- CN1-26 

DI9 CN1-12 P2-36 DO5+ CN1-28 

DO5- CN1-27 

DO6+ CN1-16 

DO6- CN1-15 

P2-18 

P2-19 

P2-20 

P2-21 

P2-22 

P2-37 




3.4 Encoder Connector CN2 

Figure 3.9 The layout of CN2 Drive Connector 

Side View 

Rear View 

Figure 3.10 The layout of CN2 Motor Connector 

View from 

this side 

9 

8 

7 

6 

5 

4 

3 

2 

1 

View from 

this side 

HOUSING: AMP (1-172161-9) 

B 

A 

M 

C N L 

P T 

D 

K 

R S 

E J 

F G H 

Quick Connector 

3106A-20-29S 

Military Connector 





Drive Connector 

Motor Connector 

PIN No. 

Terminal 


Description 

Military 

Connector 

Quick 

Connector 

Color 

4 T+ 

5 T- 

Serial communication 

signal input / output (+) 


signal input / output (-) 

A 1 Blue 

B 4 Blue & Black 

- - Reserved - - - 

- - Reserved - - - 

8 +5V +5V power supply S 7 

7, 6 GND Ground R 8 

Red / Red & 

White 

Black / 

Black & 

White 

Shell Shielding Shielding L 9 - 




Using the encoder cable with shielding (double shielding is the best) is able to prevent voltage 

coupling and eliminate the noise and interference from other electrical sources. Be sure to 

observe the following steps to complete the shielding surrounding the encoder cable. 

(1) Solder the centre cores on the 

metal part of the connector 

adequately for good ground 

contact with the plate and 

shielding. 

(2) Trim the ends of the cores and 

install the cores with shielding 

into the plastic case of the 

connector as shown in the 

figure. 

(3) Tighten the screws to complete 

the shielding. 




3.5 Serial Communication Connector CN3 

CN3 Terminal Layout and Identification 

The servo drive can be connected to a PC or controller via a serial communication 

connector. Users can operate the servo drive through PC software supplied by Delta 

(contact to the dealer). The communication connector/port of Delta servo drive can 

provide three common serial communication interfaces: RS-232 and RS-485 connection. 

RS-232 is mostly be used but is somewhat limited. The maximum cable length for an RS- 

232 connection is 15 meters (50 feet). Using RS-485 interface can allow longer distance 

for transmission and support multiple drives to be connected simultaneously. 

*1 *1 

CN3 Port (Female) 

Reserved 

*2 

Side View 

Rear View 

Please read carefully the following note. Improper wiring 

may cause damage or injury! 


PIN No. 

Signal Name 

Terminal 


Description 

1 Grounding GND Ground 

2 

RS-232 data 

transmission 

RS-232_TX 

For data transmission of the servo drive. 

Connected to the RS-232 interface of PC. 

3 - - Reserved 

4 RS-232 data receiving RS-232_RX 

For data receiving of the servo drive. 

Connected to the RS-232 interface of PC. 

5 

RS-485 data 

transmission 

RS-485(+) 

For data transmission of the servo drive 

(differential line driver + end) 

6 

RS-485 data 

transmission 

RS-485(-) 

For data transmission of the servo drive 

(differential line driver - end) 

NOTE 

1) For the connection of RS-485, please refer to section 8.1 in Chapter 8. 

2) There are two kinds of IEEE1394 communication cables available on the market. If the user 

uses one kind of cable, which its GND terminal (Pin 1) and its shielding is short-circuited, 

the communication may be damaged. Never connect the case of the terminal to the ground 

of this kind of communication cable. 




3.6 Analog Monitor Output Connector - CN5 

Analog Monitor Output Connector CN5 is used to monitor the motor operation status. Motor 

characteristics such as speed and current can be represented by analog voltages. The drive 

provides two channels (MON1 and MON2) which can be configured with the parameter P0-03 

to output the desired characteristics. 

Please refer to the parameter P0-03 for monitoring commands and P1-04 / P1-05 for scaling 

factors. Output voltage is reference to the power ground (GND). 

CN5 Terminal Layout and Identification 

3 

2 

1 

CN5 

Signal Cable for CN5 Connector 

1 

2 

3 

20±5 

PIN No. Signal Name Description Color 



1 MON1 Monitor analog data 1 Red 

2 GND Ground White 

C2 

3 MON2 Monitor analog data 2 Black 




3.7 Standard Connection Example 

3.7.1 Position Control Mode 

Please note: 

*1 Please refer to C3 ~ C4 wiring diagrams in 

section 3.3.3 (on page 3-30 ~ 3-32). 

*2 Please refer to C3 ~ C4 wiring diagrams in 

section 3.3.3 (on page 3-30 ~ 3-32). 

*3 Please refer to C9 ~ C12 wiring diagrams 

(SINK / SOURCE mode) in section 3.3.3 

(on page 3-33). 

*4 The servo drive provides built-in 


*5 The brake coil has no polarity. 




3.7.2 Speed Control Mode 

Please note: 

*1 Please refer to C9 ~ C12 wiring diagrams 

(SINK / SOURCE mode) in section 3.3.3 

(on page 3-33). 







3.7.3 Torque Control Mode 

Please note: 

*1 Please refer to C9 ~ C12 wiring 

diagrams (SINK / SOURCE mode) in 

section 3.3.3 (on page 3-33). 









Chapter 4 Display and Operation 

This chapter describes the basic operation of the digital keypad and the features it offers. 

4.1 Description of the Digital Keypad 

The digital keypad includes the display panel and function keys. The Figure 4.1 shows all of 

the features of the digital keypad and an overview of their functions. 

Figure 4.1 

Name 

LCD Display 

Charge LED 

MODE Key 

SHIFT Key 

UP and DOWN 

Key 

SET Key 

Function 

The LCD Display (5-digit, 7-step display panel) shows the monitor codes, 

parameter settings and operation values of the AC servo drive. 

The Charge LED lights to indicate the power is applied to the circuit. 

MODE Key. Pressing MODE key can enter or exit different parameter 

groups, and switch between Monitor mode and Parameter mode. 

SHIFT Key. Pressing SHIFT key can scrolls through parameter groups. After 

a parameter is selected and its value displayed, pressing SHIFT key can 

move the cursor to the left and then change parameter settings (blinking 

digits) by using arrow keys. 

UP and DOWN arrow Key. Pressing the UP and DOWN arrow key can scroll 

through and change monitor codes, parameter groups and various 

parameter settings. 

SET Key. Pressing the SET key can display and save the parameter groups, 

the various parameter settings. In monitor mode, pressing SET key can 

switch decimal or hexadecimal display. In parameter mode, pressing SET 

key can enter into parameter setting mode. During diagnosis operation, 

pressing SET key can execute the function in the last step. (The parameter 

settings changes are not effective until the SET key is pressed.) 




4.2 Display Flowchart 

Figure 4.2 

Keypad Operation 

1. When the power is applied to the AC servo drive, the LCD display will show the monitor 

function codes for approximately one second, then enter into the monitor mode. 

2. In monitor mode, pressing MODE key can enter into parameter mode. In parameter 

mode, pressing MODE key can return to monitor mode. 

3. No matter working in which mode, when an alarm occurs, the system will enter into 

fault mode immediately. In fault mode, pressing MODE key can switch to other modes. 

In other modes, if no key is pressed for over 20 seconds, the system will return to fault 

mode automatically. 

4. In monitor mode, pressing UP or DOWN arrow key can switch monitor parameter code. 

At this time, monitor display symbol will display for approximately one second. 

5. In monitor mode, pressing MODE key can enter into parameter mode, pressing the 

SHIFT key can switch parameter group and pressing UP or DOWN arrow key can change 

parameter group code. 

6. In parameter mode, the system will enter into the setting mode immediately after the 

Set key is pressed. The LCD display will display the corresponding setting value of this 

parameter simultaneously. Then, users can use UP or DOWN arrow key to change 

parameter value or press MODE key to exit and return back to the parameter mode. 

7. In parameter setting mode, the users can move the cursor to left by pressing the SHIFT 

key and change the parameter settings (blinking digits) by pressing the UP or DOWN 

arrow key. 

8. After the setting value change is completed, press SET key to save parameter settings 

or execute command. 

9. When the parameter setting is completed, LCD display will show the end code 

“SAVED“ and automatically return back to parameter mode. 




4.3 Status Display 

4.3.1 Save Setting Display 

After the SET key is pressed, LCD display will show the following display messages for 

approx. one second according to different status. 

Display Message 

Description 

The setting value is saved correctly. [Saved) 

This parameter is read only. Write-protected. (Read-Only) 

Invalid password or no password was input. (Locked) 

4.3.2 Decimal Point Display 

The setting value is error or invalid. (Out of Range) 

The servo system is running and it is unable to accept 

this setting value to be changed. (Servo On) 

This parameter is valid after restarting the drive. (Power 

On) 


Description 

4.3.3 Fault Message Display 

High/Low byte display. When the data is a decimal 32-bit 

data, these two digits are used to show if the display is 

high byte or low byte. 

Negative value display. When the data is displayed in 

decimal format, the most left two digits represent negative 

sign no matter it is a 16-bit or 32-bit data. If the data is 

displayed in hexadecimal format, it is a positive value 

always and no negative sign is displayed. 


Description 

4.3.4 Polarity Setting Display 

When the AC servo drive has a fault, LCD display will 

display “ALnnn”. “AL” indicates the alarm and “nnn” 

indicates the drive fault code. For the list of drive fault 

code, please refer to parameter P0-01 or refer to Chapter 

11 (Troubleshooting). 


Description 

Positive value display. When entering into parameter 

setting mode, pressing UP or DOWN arrow key can 

increase or decrease the display value. SHIFT key is used 

to change the selected digit (The selected digit will 

blink). 





Description 

Negative value display. Continuously press SHIFT key for 

two seconds and then the positive(+) or negative(-) sign 

can be switched. When the setting value exceeds its 

setting range, the positive(+) and negative(-) sign can not 

be switched. (The negative value display is for a decimal 

negative value only. There is no negative value display 

for a hexadecimal negative value.) 

4.3.5 Monitor Setting Display 

When the AC servo drive is applied to power, the LCD display will show the monitor 

function codes for approximately one second and then enter into the monitor mode. In 

monitor mode, in order to change the monitor status, the users can press UP or DOWN 

arrow key or change parameter P0-02 directly to specify the monitor status. When the 

power is applied, the LCD display will show ASDA-B2 first and then display the monitor 

status depending on the setting value of P0-02. For example, if the setting value of P0-02 

is 4 when the power is applied, the monitor function will be input pulse number of pulse 

command. After ASDA-B2 shows on the LCD display, the C-PLS monitor codes will display 

next and then the pulse number will display after. 

P0-02 

Setting 

Display Message Description Unit 

0 

1 

2 

3 

4 

5 

Motor feedback pulse number (after 

electronic gear ratio is set) 

Input pulse number of pulse 

command (after electronic gear 

ratio is set) 

Position error counts between 

control command pulse and 

feedback pulse 

Motor feedback pulse number 

(encoder unit, 1600000 pulse/rev) 

Input pulse number of pulse 

command (before electronic gear 

ratio is set) (encoder unit) 

Position error counts (after 

electronic gear ratio is set) (encoder 

unit) 

[user unit] 

[user unit] 

[user unit] 

[pulse] 

[pulse] 

[pulse] 

6 Input frequency of pulse command [Kpps] 

7 Motor rotation speed [r/min] 

8 Speed input command [Volt] 

9 Speed input command [r/min] 




P0-02 

Setting 

Display Message Description Unit 

10 Torque input command [Volt] 

11 Torque input command [%] 

12 Average load [%] 

13 Peak load [%] 

14 Main circuit voltage [Volt] 

15 

Ratio of load inertia to Motor inertia 

(Please note that if the display is 

130, it indicates that the actual 

inertia is 13.0) 

[0.1times] 

16 IGBT temperature [ o C] 

17 

18 

Resonance frequency (The low byte 

is the first resonance point and the 

high byte is the second resonance 

point.) 

Absolute pulse number relative to 

encoder (use Z phase as home). The 

value of Z phase home point is 0, 

and it can be the value from -5000 

to +5000 pulses. 

[Hz] 

- 

The following table lists the display examples of monitor value: 


(Dec.) 

(Hex.) 

(Dec. High Byte) 

(Dec. Low Byte) 

(Hex. High Byte) 

(Hex. Low Byte) 

16-bit 

Data 

32-bit 

Data 

Description 

Decimal display. When the actual value is 

1234, the display is 01234. 

Hexadecimal display. When the actual value is 

0x1234, the display is 1234. 

Decimal display. When the actual value is 

1234567890, the display of high byte is 

1234.5 and the display of low byte is 67890. 

Hexadecimal display. When the actual value is 

0x12345678, the display of high byte is h1234 

and the display of low byte is L5678. 

Negative value display. When the actual value is - 

12345, the display is 1.2.345. (The negative value 

display is displayed to indicate a decimal negative 

value. There is no negative value display for a 

hexadecimal negative value.) 




NOTE 

1) Dec. represents Decimal display and Hex. represents Hexadecimal display. 

2) The above display methods are both available in monitor mode and parameter setting mode. 

3) All monitor variables are 32-bit data. The users can switch to high byte or low byte and display 

format (Dec. or Hex.) freely. Regarding the parameters listed in Chapter 8, for each parameter, 

only one kind of display format is available and cannot be changed. 




4.4 General Function Operation 

4.4.1 Fault Code Display Operation 

After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display 

the corresponding fault code history for the parameter. 

Figure 4.3 




4.4.2 JOG Operation 

After entering parameter mode P4-05, the users can follow the following steps to perform 

JOG operation. (Please also refer to Figure 4.4). 

Step1. Press the SET key to display the JOG speed. (The default value is 20 r/min). 

Step2. Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed. 

(This also can be undertaken by using the SHIFT key to move the cursor to the 

desired unit column (the effected number will blink) then changed using the UP 

and DOWN arrow keys. The example display in Figure 4.4 is adjusted as 100 

r/min.) 

Step3. Press the SET key when the desired JOG speed is set. The Servo Drive will display 

"JOG". 

Step4. Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The motor 

will only rotate while the arrow key is activated. 

Step5. To change JOG speed again, press the MODE key. The servo Drive will display "P4 - 

05". Press the SET key and the JOG speed will displayed again. Refer back to #2 

and #3 to change speed. 

NOTE 

1) JOG operation is effective only when Servo On (when the servo drive is enabled). 

Figure 4.4 




4.4.3 Force Output Control Operation 

For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by 

using parameter P2-08 and P4-06. First, set P2-08 to 406 to enable the force output 

control function and then using P4-06 to force the digital outputs to be activated. Follow 

the setting method in Figure 4.5 to enter into Force Output Control operation mode. 

When P4-06 is set to 2, the digital output, DO2 is activated. When P4-06 is set to 7, the 

digital outputs, DO1, DO2 and DO3 are both activated. The parameter setting value of P4- 

06 is not retained when power is off. After re-power the servo drive, all digital outputs will 

return to the normal status. If P2-08 is set to 400, it also can switch the Force Output 

Control operation mode to normal Digital Output (DO) Control operation mode. 

The DO function and status is determined by P2-18 to P2-22. This function is enabled 

only when Servo Off (the servo drive is disabled). 

Figure 4.5 

NOTE 

1) As the display of P4-06 is hexadecimal, 0(zero) of the fifth digit will not show on the LED 

display. 




4.4.4 DI Diagnosis Operation 

Following the setting method in Figure 4.6 can perform DI diagnosis operation (parameter 

P4-07, Input Status). According to the ON and OFF status of the digital inputs DI1 to DI9, 

the corresponding status will display on the servo drive LED display. When the Bit is set to 

“1”, it means that the corresponding digital input signal is ON. (Please also refer to Figure 

4.6) 

For example: 

Suppose that the servo drive LED display is “1E1”. 

“E” is hexadecimal, which is equal to “1110” in binary system, and it means that the 

digital inputs DI6 ~ DI8 are ON. 

Figure 4.6 

(Hexadecimal Display) 




4.4.5 DO Diagnosis Operation 

Following the setting method in Figure 4.7 can perform DO diagnosis operation 

(parameter P4-09, Output Status Display). According to the ON and OFF status of the 

digital outputs DO1 to DO6, the corresponding status will display on the servo drive LED 

display. When the Bit is set to “1”, it means that the corresponding digital output signal is 

ON. (Please also refer to Figure 4.7) 

For example: 

Suppose that the servo drive LED display is “3F”. 

“F” is hexadecimal, which is equal to “1111” in binary system, and it means that the 

digital outputs DO1 ~ DO4 are ON. 

Figure 4.7 

(Hexadecimal Display) 






Chapter 5 Trial Run and Tuning Procedure 

This chapter, which is divided into two parts, describes trial run for servo drive and motor. 

One part is to introduce the trial run without load, and the other part is to introduce trial run 

with load. Ensure to complete the trial run without load first before performing the trial run 

with load. 

5.1 Inspection without Load 

In order to prevent accidents and avoid damaging the servo drive and mechanical system, the 

trial run should be performed under no load condition (no load connected, including 

disconnecting all couplings and belts). Do not run servo motor while it is connected to load or 

mechanical system because the unassembled parts on motor shaft may easily disassemble 

during running and it may damage mechanical system or even result in personnel injury. After 

removing the load or mechanical system from the servo motor, if the servo motor can runs 

normally following up the normal operation procedure (when trial run without load is 

completed), then the users can connect to the load and mechanical system to run the servo 

motor. 

‣ In order to prevent accidents, the initial trial run for servo motor should be conducted 

under no load conditions (separate the motor from its couplings and belts). 

‣ Caution: Please perform trial run without load first and then perform trial run with load 

connected. After the servo motor is running normally and regularly without load, then 

run servo motor with load connected. Ensure to perform trial run in this order to prevent 

unnecessary danger. 

After power in connected to AC servo drive, the charge LED will light and it indicates that AC 

servo drive is ready. Please check the followings before trial run: 

Inspection before operation (Control power is not applied) 

• Inspect the servo drive and servo motor to insure they were not damaged. 

• To avoid an electric shock, be sure to connect the ground terminal of servo drive to the 

ground terminal of control panel. 

• Before making any connection, wait 10 minutes for capacitors to discharge after the 

power is disconnected, alternatively, use an appropriate discharge device to discharge. 

• Ensure that all wiring terminals are correctly insulated. 

• Ensure that all wiring is correct or damage and or malfunction may result. 

• Visually check to ensure that there are not any unused screws, metal strips, or any 

conductive or inflammable materials inside the drive. 




• Never put inflammable objects on servo drive or close to the external regenerative 

resistor. 

• Make sure control switch is OFF. 

• If the electromagnetic brake is being used, ensure that it is correctly wired. 

• If required, use an appropriate electrical filter to eliminate noise to the servo drive. 

• Ensure that the external applied voltage to the drive is correct and matched to the 

controller. 

Inspection during operation (Control power is applied) 

• Ensure that the cables are not damaged, stressed excessively or loaded heavily. When 

the motor is running, pay close attention on the connection of the cables and notice 

that if they are damaged, frayed or over extended. 

• Check for abnormal vibrations and sounds during operation. If the servo motor is 

vibrating or there are unusual noises while the motor is running, please contact the 

dealer or manufacturer for assistance. 

• Ensure that all user-defined parameters are set correctly. Since the characteristics of 

various machinery equipment are different, in order to avoid accident or cause damage, 

do not adjust the parameter abnormally and ensure the parameter setting is not an 

excessive value. 

• Ensure to reset some parameters when the servo drive is off (Please refer to Chapter 7). 

Otherwise, it may result in malfunction. 

• If there is no contact sound or there be any unusual noises when the relay of the servo 

drive is operating, please contact your distributor for assistance or contact with Delta. 

• Check for abnormal conditions of the power indicators and LED display. If there is any 

abnormal condition of the power indicators and LED display, please contact your 

distributor for assistance or contact with Delta. 




5.2 Applying Power to the Drive 

The users please observe the following steps when applying power supply to the servo drive. 

1. Please check and confirm the wiring connection between the drive and motor is correct. 

1) Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and Green 

cables separately (U: Red, V: White, W: Black, FG: Green). If not connect to the 

specified cable and terminal, then the drive cannot control motor. The motor 

grounding lead, FG must connect to grounding terminal. For more information of 

cables, please refer to section 3.1. 

2) Ensure to connect encoder cable to CN2 connector correctly. If the users only desire 

to execute JOG operation, it is not necessary to make any connection to CN1 and CN3 

connector. For more information of the connection of CN2 connector, please refer to 

Section 3.1 and 3.4. 

‣ Do not connect the AC input power (R, S, T) to the (U, V, W) output terminals. This will 

damage the AC servo drive. 

2. Main circuit wiring 

Connect power to the AC servo. For three-phase input power connection and single-phase 

input power connection, please refer to Section 3.1.3. 

3. Turn the Power On 

The Power includes control circuit power (L1c, L2c) and main circuit power (R, S, T). When 

the power is on, the normal display should be shown as the following figure: 

As the default settings of digital input signal, DI6, DI7 and DI8 are Reverse Inhibit Limit 

(NL), Forward Inhibit Limit (PL) and Emergency Stop (EMGS) respectively, if the users do not 

want to use the default settings of DI6~DI8, the users can change their settings by using 

parameters P2-15 to P2-17 freely. When the setting value of parameters P2-15 to P2-17 is 

0, it indicates the function of this DI signal is disabled. For more information of 

parameters P2-15 to P2-17, please refer to Chapter 7 “Parameters”. 

If the parameter P0-02 is set as motor speed (06), the normal display should be shown as 

the following figure: 

If there is no text or character displayed on the LED display, please check if the voltage of 

the control circuit terminal (L1c and L2c) is over low. 




1) When display shows: 

Over voltage: 

The main circuit voltage has exceeded its maximum allowable value or input power is 

error (Incorrect power input). 

Corrective Actions: 

• Use voltmeter to check whether the input voltage falls within the rated input 

voltage. 

• Use voltmeter to check whether the input voltage is within the specified limit. 


Encoder error: 

Check if the wiring is correct. Check if the encoder wiring (CN2) of servo motor is loose 

or incorrect. 


• Check if the users perform wiring recommended in the user manual. 

• Examine the encoder connector and cable. 

• Inspect whether wire is loose or not. 

• Check if the encoder is damaged. 


Emergency stop activated: 

Please check if any of digital inputs DI1~DI9 signal is set to “Emergency Stop” (EMGS). 


• If it does not need to use “Emergency Stop (EMGS)” as input signal, the users only 

need to confirm that if all of the digital inputs DI1~DI8 are not set to “Emergency 




Stop (EMGS)”. (The setting value of parameter P2-10 to P2-17 and P2-36 is not set 

to 21.) 

• If it is necessary to use “Emergency Stop (EMGS)” as input signal, the users only 

need to confirm that which of digital inputs DI1~DI9 is set to “Emergency Stop 

(EMGS)” and check if the digital input signal is ON (It should be activated). 


Reverse limit switch error: 

Please check if any of digital inputs DI1~DI9 signal is set to “Reverse inhibit limit (NL)” 

and check if the signal is ON or not. 


• If it does not need to use “Reverse inhibit limit (NL)” as input signal, the users only 

need to confirm that if all of the digital inputs DI1~DI9 are not set to “Reverse 

inhibit limit (NL)”. (The setting value of parameter P2-10 to P2-17 and P2-36 is not 

set to 22.) 

• If it is necessary to use “Reverse inhibit limit (NL)” as input signal, the users only 

need to confirm that which of digital inputs DI1~DI9 is set to “Reverse inhibit limit 

(NL)” and check if the digital input signal is ON (It should be activated). 


Forward limit switch error: 

Please check if any of digital inputs DI1~DI9 signal is set to “Forward inhibit limit (PL)” 

and check if the signal is ON or not. 


• If it is no need to use “Forward inhibit limit (PL)” as input signal, the users only 

need to confirm that if all of the digital inputs DI1~DI9 are not set to “Forward 

inhibit limit (PL)”. (The setting value of parameter P2-10 to P2-17 and P2-36 is not 

set to 23.) 




• If it is necessary to use “Forward inhibit limit (PL)” as input signal, the users only 

need to confirm that which of digital inputs DI1~DI9 is set to “Forward inhibit limit 

(PL)” and check if the digital input signal is ON (It should be activated). 

When “Digital Input 1 (DI1)” is set to Servo On (SON), if DI1 is set to ON (it indicates that 

Servo On (SON) function is enabled) and the following fault message shows on the 

display: 


Overcurrent: 


• Check the wiring connections between the servo drive and motor. 

• Check if the circuit of the wiring is closed. 

• Remove the short-circuited condition and avoid metal conductor being exposed. 


Undervoltage: 


• Check whether the wiring of main circuit input voltage is normal. 

• Use voltmeter to check whether input voltage of main circuit is normal. 

• Use voltmeter to check whether the input voltage is within the specified 

specification. 

NOTE 

1) If there are any unknown fault codes and abnormal display when applying power to the drive 

or servo on is activated (without giving any command), please inform the distributor or contact 

with Delta for assistance. 




5.3 JOG Trial Run without Load 

It is very convenient to use JOG trial run without load to test the servo drive and motor as it 

can save the wiring. The external wiring is not necessary and the users only need to connect 

the digital keypad to the servo drive. For safety, it is recommended to set JOG speed at low 

speed. Please refer to the following steps to perform JOG trial run without load. 

STEP 1: Turn the drive ON through software. Ensure that the setting value of parameter P2- 

30 should be set to 1 (Servo On). 

STEP 2: Set parameter P4-05 as JOG speed (unit: r/min). After the desired JOG speed is set, 

and then press SET key, the drive will enter into JOG operation mode automatically 

STEP 3: The users can press UP and DOWN key to change JOG speed and press SHIFT key to 

adjust the digit number of the displayed value. 

STEP 4: Pressing SET key can determine the speed of JOG operation. 

STEP 5: Pressing UP key and the servo motor will run in CCW direction. After releasing UP key, 

the motor will stop running. 

STEP 6: Pressing DOWN key and the servo motor will run in CW direction. After releasing 

DOWN key, the motor will stop running. 

N(CW) and P(CCW) Definition: 

CCW (Counterclockwise): when facing the servo motor shaft, CCW is reverse running. 

CW (Clockwise): when facing the servo motor shaft, CW is forward running. 

STEP 7: When pressing MODE key, it can exit JOG operation mode. 




In the example below, the JOG speed is adjusted from 20r/min (Default setting) to 100r/min. 




5.4 Speed Trial Run without Load 

Before speed trial run, fix and secure the motor as possible to avoid the danger from the 

reacting force when motor speed changes. 

STEP 1: 

Set the value of parameter P1-01 to 02 and it is speed (S) control mode. After selecting the 

operation mode as speed (S) control mode, please restart the drive as P1-01 is effective only 

after the servo drive is restarted (after switching power off and on). 

STEP 2: 

In speed control mode, the necessary Digital Inputs are listed as follows: 

Digital Input 

Parameter Setting 

Value 

Sign Function Description CN1 PIN No. 

DI1 P2-10=101 SON Servo On DI1-=9 

DI2 P2-11=109 TRQLM Torque limit enabled DI2-=10 

DI3 P2-12=114 SPD0 Speed command selection DI3-=34 

DI4 P2-13=115 SPD1 Speed command selection DI4-=8 

DI5 P2-14=102 ARST Reset DI5-=33 

DI6 P2-15=0 Disabled This DI function is disabled - 




By default, DI6 is the function of reverse inhibit limit, DI7 is the function of forward inhibit 

limit and DI6 is the function of emergency stop (DI8), if the users do not set the setting value 

of parameters P2-15 to P2-17 and P2-36 to 0 (Disabled), the faults (ALE13, 14 and 15) will 

occur (For the information of fault messages, please refer to Chapter 10). Therefore, if the 

users do not need to use these three digit inputs, please set the setting value of parameters 

P2-15 to P2-17 and P2-36 to 0 (Disabled) in advance. 

All the digital inputs of Delta ASDA-B2 series are user-defined, and the users can set the DI 

signals freely. Ensure to refer to the definitions of DI signals before defining them (For the 

description of DI signals, please refer to Table 7.A in Chapter 7). If any alarm code displays 

after the setting is completed, the users can restart the drive or set DI5 to be activated to 

clear the fault. Please refer to section 5.2. 




The speed command is selected by SPD0, SPD1. Please refer to the following table: 

Speed 

Command No. 

DI signal of CN1 

SPD1 

SPD0 

S1 0 0 

S2 0 1 

Command Source Content Range 

External analog 

command 

Voltage between V-REF 

and GND 

-10V ~ +10V 

P1-09 -50000 ~ 50000 

S3 1 0 Internal parameter P1-10 -50000 ~ 50000 

S4 1 1 P1-11 -50000 ~ 50000 

0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed) 

The range of internal parameter is from -50000 to 50000. 

Setting value of speed command = Setting range x unit (0.1 r/min). 

For example: 

If P1-09 is set to +30000, the setting value of speed command = +30000 x 0.1 r/min = +3000 

r/min. 

The settings of speed command: 

P1-09 is set to 30000 Input value 

command 

Rotation direction 

P1-10 is set to 1000 + CW 

P1-11 is set to -30000 - CCW 

STEP 3: 

1. The users can use DI1 to enable the servo drive (Servo ON). 

2. If DI3 (SPD0) and DI4 (SPD1) are OFF both, it indicates S1 command is selected. At this 

time, the motor is operating according to external analog command. 

3. If only DI3 is ON (SPD0), it indicates S2 command (P1-09 is set to 3000) is selected, and 

the motor speed is 3000r/min at this time. 

4. If only DI4 is ON (SPD1), it indicates S3 command (P1-10 is set to 100) is selected, and 

the motor speed is 100r/min at this time. 

5. If DI3 (SPD0) and DI4 (SPD1) are ON both, it indicates S4 command (P1-11 is set to - 

3000) is selected, and the motor speed is -3000r/min at this time. 

6. Repeat the action of (3), (4), (5) freely. 

7. When the users want to stop the speed trial run, use DI1 to disable the servo drive 

(Servo OFF). 




5.5 Tuning Procedure 

Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode 

Tuning Procedure 

1. After wiring is completed, when power in connected to the AC servo 

drive, the right side display will show on the LCD display. 

2. Press MODE key to enter into parameter mode. 

Display 

3. Press SHIFT key twice to select parameter group. 

4. Press UP key to view each parameter and select parameter P2-17. 

5. Press SET key to display the parameter value as shown on the right 

side. 

6. Press SHIFT key twice to change the parameter values. Use UP key to 

cycle through the available settings and then press SET key to 

determine the parameter settings. 

7. Press UP key to view each parameter and select parameter P2-30. 

8. Press SET key to display the parameter value as shown on the right 

side. 

9. Select parameter value 1. Use UP key to cycle through the available 

settings. 

10. At this time, the servo drive is ON and the right side display will 

appear next. 

11. Press DOWN key three times to select the ratio of Load Inertia to 

Servo Motor Inertia (J_load /J_motor). 

12. Display the current ratio of Load Inertia to Servo Motor Inertia (J_load 

/J_motor). (5.0 is default setting.) 

13. Press MODE key to select parameter mode. 

14. Press SHIFT key twice to select parameter group. 

15. Press UP key to select user parameter P4-05. 

16. Press SET key and JOG speed 20r/min will be displayed. Press UP and 

DOWN key to increase and decrease JOG speed. To press SHIFT key 

one time can add one digit number. 

17. Select desired JOG speed, press SET key and it will show the right 

side display. 

18. Pressing UP key is forward rotation and pressing DOWN key is reverse rotation. 

19. Execute JOG operation in low speed first. After the machine is running smoothly, then 

execute JOG operation in high speed. 




Tuning Procedure 

Display 

20. The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the 

display of JOG parameter P4-05 operation. Please press MODE key twice continuously and 

the users can see the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor). Then, 

execute JOG operation again, press MODE key once and press SET key twice to view the 

display on the keypad. Check if the value of J_load /J_motor is adjusted to a fixed value 

and displayed on the keypad after acceleration and deceleration repeatedly. 

5.5.1 Tuning Flowchart 




5.5.2 Load Inertia Estimation Flowchart 




5.5.3 Auto Mode Tuning Flowchart 

Set P2-32 to 1 (1: Auto Mode [Continuous adjustment] ) 

The servo drive will continuously estimate the system inertia, save the measured load 

inertia value automatically and memorized in P1-37 every 30 minutes by referring to the 

frequency response settings of P2-31. 

P2-31 : Auto Mode Stiffness Setting (Default setting: 80) 

In Auto mode and Semi-Auto mode, the speed loop frequency response settings are as 

follows: 

1 ~ 50Hz : Low stiffness and low frequency response 

51 ~ 250Hz : Medium stiffness and medium frequency response 

251 ~ 550Hz : High stiffness and high frequency response 

Adjust P2-31: Increase the setting value of P2-31 to enhance the stiffness or reduce the 

noise. Continuously perform the adjustment until the satisfactory performance is 

achieved. 




5.5.4 Semi-Auto Mode Tuning Flowchart 

Set P2-32 to 2 (2: Semi-Auto Mode [Non-continuous adjustment] ) 

The servo drive will continuously perform the adjustment for a period of time. After the 

system inertia becomes stable, it will stop estimating the system inertia, save the 

measured load inertia value automatically, and memorized in P1-37. When switching from 

other modes, such as Manual Mode or Auto Mode, to Semi-Auto Mode, the servo drive will 

perform continuous adjustment for estimating the load inertia (P1-37) again. The servo 

drive will refer to the frequency response settings of P2-31 when estimating the system 

inertia. 

P2-31 : Auto Mode Stiffness Setting (Default setting: 80) 

In Auto mode and Semi-Auto mode, the speed loop frequency response settings are as 

follows: 




Adjust P2-31: Increase the setting value of P2-31 to enhance the frequency response or 

reduce the noise. Continuously perform the adjustment until the satisfactory performance 

is achieved. 




NOTE 

1) When bit0 of P2-33 is set to 1, it indicates that the system inertia estimation of semi-auto 

mode has been completed and the measured load inertia value is saved and memorized in P1- 

37 automatically. 

2) If reset bit0 of P2-33 to 0, it will start estimating the system inertia again. 




5.5.5 Limit of Load Inertia Estimation 

The accel. / decel. time for reaching 2000r/min must be below 1 second. 

The rotation speed must be above 200r/min. 

The load inertia must be 100 multiple or less of motor inertia. 

The change of external force and the inertia ratio can not be too much. 

In Auto Mode (P2-32 is set to 1), the measured load inertia value will be saved 

automatically and memorized in P1-37 every 30 minutes. In Semi-Auto Mode, it will stop 

estimating the load inertia after a period of continuous adjustment time when the system 

inertia becomes stable. The measured load inertia value will be saved automatically and 

memorized in P1-37 when load inertia estimation is stopped. 




NOTE 

1) Parameters P2-44 and P2-46 are used to set notch filter attenuation rate. If the resonance can 

not be suppressed when the setting values of P2-44 and P2-46 are set to 32bB (the maximum 

value), please decrease the speed loop frequency response. After setting P2-47, the users can 

check the setting values of P2-44 and P2-46. If the setting value of P2-44 is not 0, it indicates 

that one resonance frequency exists in the system and then the users can read P2-43, i.e. the 

frequency (unit is Hz) of the resonance point. When there is any resonance point in the system, 

its information will be shown in P2-45 and P2-46 as P2-43 and P2-44. 

2) If the resonance conditions are not improved when P2-47 is set to 1 for over three times, 

please adjust notch filters (resonance suppression parameters) manually to or eliminate the 

resonance. 




5.5.6 Mechanical Resonance Suppression Method 

In order to suppress the high frequency resonance of the mechanical system, ASDA-B2 

series servo drive provides three notch filters (resonance suppression parameters) for 

resonance suppression. Two notch filters can be set to suppress the resonance 

automatically. If the users do not want to suppress the resonance automatically, these 

two notch filter can also be set to or eliminate the resonance manually. 

Please refer to the following flowchart for manual adjustment. 




5.5.7 Relationship between Tuning Modes and Parameters 

Tuning Mode P2-32 

AutoSet 

Parameter 

User-defined Parameter 

Gain Value 

P1-37 (Ratio of Load Inertia to Servo 

Motor Inertia [J_load / J_motor]) 

Manual Mode 

0(Default 

setting) 

None 

P2-00 (Proportional Position Loop 

Gain) 

P2-04 (Proportional Speed Loop Gain) 

P2-06 (Speed Integral Compensation) 

Fixed 

P2-25 (Low-pass Filter Time Constant 

of Resonance Suppression) 

P2-26 (External Anti-Interference Gain) 

P1-37 

P2-00 

Auto Mode 

[Continuous 

Adjustment] 

1 

P2-02 

P2-04 

P2-06 

P2-25 

P2-31 (Auto Stiffness and Frequency 

response Level) 

Continuous 

Adjusting 

(every 30 

minutes) 

P2-26 

P2-49 

P1-37 

Semi-Auto Mode 

[Non-continuous 

Adjustment] 

2 

P2-00 

P2-02 

P2-04 

P2-06 

P2-25 

P2-26 

P2-31 (Auto Stiffness and Frequency 

response Level) 

Noncontinuous 

Adjusting 

(stop after a 

period of 

time) 

P2-49 

When switching mode #1 to #0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-25, 

P2-26 and P2-49 will change to the value that measured in #1 auto-tuning mode. 

When switching mode #2 to #0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-25, 

P2-26 and P2-49 will change to the value that measured in #2 semi-auto tuning mode. 




5.5.8 Gain Adjustment in Manual Mode 

The position and speed responsiveness selection is depending on and determined by the 

the control stiffness of machinery and conditions of applications. Generally, high 

reponsiveness is essential for the high frequency positioning control of mechanical 

facilities and the applications of high precision process system. However, the higher 

responsiveness may easily result in the resonance of machinery system. Therefore, for the 

applications of high responsiveness, the machinery system with control stiffness is 

needed to avoid the resonance. Especially when adjusting the responsiveness of 

unfamiliar machinery system, the users can gradually increase the gain setting value to 

improve responsiveness untill the resonance occurs, and then decrease the gain setting 

value. The relevant parameters and gain adjusting methods are described as follows: 

• KPP, Parameter P2-00 Proportional Position Loop Gain 

This parameter is used to determine the responsiveness of position loop (position 

loop gain). It could be used to increase stiffness, expedite position loop response 

and reduce position error. When the setting value of KPP is higher, the response to 

the position command is quicker, the position error is less and the settling time is 

also shorter. However, if the setting value is over high, the machinery system may 

generate vibration or noise, or even overshoot during positioning. The position loop 

responsiveness is calculated as follows: 

• KVP, Parameter P2-04 Proportional Speed Loop Gain 

This parameter is used to determine the frequency response of speed loop (speed 

loop gain). It could be used to expedite speed loop response. When the setting value 

of KVP is higher, the response to the speed command is quicker. However, if the 

setting value is over high, it may result in the resonance of machinery system. The 

frequency response of speed loop must be higher than the 4~6 times of the 

frequency response of position loop. If frequency response of position loop is higher 

than the frequency response of speed loop, the machinery system may generate 

vibration or noise, or even overshoot during positioning. The speed loop frequency 

response is calculated as follows: 

JM: Motor Inertia 

JL: Load Inertia 

P1-37: 0.1 times 

When the value of P1-37 (no matter it is the measured load inertia value or the set 

load inertia value) is equal to the actual load inertia value, the actual speed loop 

frequency response will be: 

KVP 

= Hz 

2 . 




• KVI, Parameter P2-06 Speed Integral Compensation 

If the setting value of KVI is higher, the capability of decreasing the speed control 

deviation is better. However, if the setting value is over high, it may easily result in 

the vibration of machinery system. The recommended setting value is as follows: 

• NLP, Parameter P2-25 Low-pass Filter Time Constant of Resonance Suppression 

When the value of (J_load / J_motor) is high, the responsiveness of speed loop may 

decrease. At this time, the users can increase the setting value of KVP (P2-04) to 

keep the responsiveness of speed loop. However, when increasing the setting value 

of KVP (P2-04), it may easily result in the vibration of machinery system. Please use 

this parameter to suppress or eliminate the noise of resonance. If the setting value 

of NLP is higher, the capability of improving the noise of resonance is better. 

However, if the setting value is over high, it may easily lead to the instability of 

speed loop and overshoot of machinery system. 

The recommended setting value is as follows: 

• DST, Parameter P2-26 External Anti-Interference Gain 

This parameter is used to enhance the anti-interference capability and reduce the 

occurrence of overshoot. The default setting is 0 (Disabled). It is not recommended 

to use it in manual mode only when performing a few tuning on the value gotten 

through P2-32 AutoMode (PDFF) (setting value is 5, mode 5) automatically (The 

setting value of P2-26 will change to the value that measured in mode 5 (AutoMode 

(PDFF)) when switching mode 5 ((AutoMode (PDFF)) to mode 0 (Manual mode)). 

• PFG, Parameter P2-02 Position Feed Forward Gain 

This parameter is used to reduce position error and shorten the positioning settling 

time. However, if the setting value is over high, it may easily lead to the overshoot of 

machinery system. If the value of electronic gear ratio (1-44/1-45) is over than 10, 

the machinery system may also easily generate vibration or noise. 


Chapter 6 Control Modes of Operation 

6.1 Control Modes of Operation 

The Delta ASDA-B2 series can be programmed to provide six single and five dual modes of 

operation. Their operation and description is listed in the following table. 

Mode Code Description 

External Position Control 

P 

External Position control mode for the servo motor 

is achieved via an external pulse command. 

Speed Control 

S 

(External / Internal) Speed control mode for the 



~ +10 VDC command. Control of the internal speed 


three speeds can be stored internally). 

Single 

Mode 

Internal Speed Control 

Sz 

Internal Speed control mode for the servo motor is 


controller. Control of the internal speed mode is via 

the Digital Inputs (DI). (A maximum of three speeds 

can be stored internally). 


T 

(External / Internal) Torque control mode for the 



~ +10 VDC command. Control of the internal torque 


three torque levels can be stored internally). 

Internal Torque Control 

Tz 

Internal Torque control mode for the servo motor is 


controller. Control of the internal torque mode is 

via the Digital Inputs (DI). (A maximum of three 

torque levels can be stored internally). 

S-P 

Either S or P control mode can be selected via the 


Dual Mode 

T-P 

Either T or P control mode can be selected via the 


S-T 

Either S or T control mode can be selected via the 


The steps of changing mode: 

(1) Switching the servo drive to Servo Off status. Turning SON signal of Digit input to be off 

can complete this action. 

(2) Using parameter P1-01. (Refer to chapter 7). 

(3) After the setting is completed, cut the power off and restart the drive again. 

The following sections describe the operation of each control mode, including control 

structure, command source and loop gain adjustment, etc. 




6.2 Position Control Mode 

The position control mode is usually used for the applications requiring precision positioning, 

such as industry positioning machine, indexing table etc. The external pulse train with 

direction which can control the rotation angle of servo motor. The max. input frequency for 

the external pulse command is 4Mpps. 

For the closed-loop positioning, speed control loop is the principal part and the auxiliary 

parameters are position loop gain and feed forward compensation. The users can also select 

two kinds of tuning mode (Manual/Auto modes) to perform gain adjustment. This Section 6.2 

mainly describes the applicability of loop gain adjustment and feed forward compensation of 

Delta servo system. 

6.2.1 Command Source of Position (PT) Control Mode 

The command source of P mode is external pulse train input form terminals. There are 

three types of pulse input and each pulse type is with·logic type (positive (+), negative (-)). 

They all can be set in parameter P1-00. Please refer to the following relevant parameters: 

Address: 0100H 

P1-00▲ PTT External Pulse Input Type 

0101H 

Operation 

Interface: Keypad/Software Communication Related Section: 

Section 6.2.1 

Default: 0x2 

Control 

Mode: PT 

Unit: - 

Range: 0 ~ 1132 

Data Size: 16-bit 

Display 

Format: Hexadecimal 

Settings: 

A: Input pulse type 

0: AB phase pulse (4x) (Quadrature Input) 

1: Clockwise (CW) + Counterclockwise(CCW) pulse 

2: Pulse + Direction 

3: Other settings: 




B: Input pulse filter 

This setting is used to suppress or reduce the chatter caused by the noise, etc. 

However, if the instant input pulse filter frequency is over high, the frequency 

that exceeds the setting value will be regarded as noise and filtered. 

Setting 

Value 

Low-speed Filter Frequency 

(Min. Filter Frequency (see note 1) ) 

Setting 

Value 

High-speed Filter Frequency 


0 0.83Mpps (600ns) 0 3.33Mpps (150ns) 

1 208Kpps (2.4us) 1 0.83Mpps (600ns) 

2 104Kpps (4.8us) 2 416Kpps (1.2us) 

3 52Kpps (9.6us) 3 208Kpps (2.4us) 

4 No Filter Function 4 No Filter Function 

Please note: 

1. 

150 ns 

When the pulse frequencies of high-level duty 

and low-level duty both are greater than 150 ns, 

the signal will not be filtered (that is, the pulse 

command will pass through). 

If an input pulse of 2~4MHz is used, it is recommended to change the setting value B (Input 

pulse filter) and set this setting value to 4. Please note that this function is available for DSP 

version V1.036 sub05, CPLD version V10 and later models only. 

Note: If the signal is a 4Mpps high input pulse, setting the value B to 4 is able to ensure 

that the signal will not be filtered and will be certainly delivered. 




C: Input polarity 

Logic 

Pulse 

Type 

Forward 

Reverse 

AB 

phase 

pulse 

Pulse 

Sign 

T1 T1 T1 T1 T1 T1 

TH 

Pulse 

Sign 

T1 T1 T1 T1 T1 

TH 

0 Positive 

Logic 

CW + 

CCW 

pulse 

Pulse 

Sign 

T2 

TH 

T3 

T2 T2 T2 T2 T2 

TH 

Pulse + 

Direction 

Pulse 

Sign 

T4 

T5 T6 T5 T6 T5 

T4 

TH 

Pulse 

Sign 

T4 

T5 T6 T5 T6 T5 

T4 

TH 

AB 

phase 

pulse 

Pulse 

Sign 

T1 T1 T1 T1 T1 T1 

TH 

Pulse 

Sign 

T1 T1 T1 T1 

TH 

1 Negative 

Logic 

CW + 

CCW 

pulse 

Pulse 

Sign 

T2 T2 T2 T3 T2 T2 T2 TH 

Pulse + 

Direction 

Pulse 

T4 

T5 T6 T5 T6 T5 

T4 

TH 

Pulse 

Sign 

T4 T5 T6 T5 T6 T5 T4 

TH 

Sign 

Pulse specification 

High-speed 

pulse 

Low-speed 

pulse 

Line 

driver 

Line 

driver 

Open 

collector 

Max. 

input 

pulse 

frequency 

4Mpps 

Min. time width 

T1 T2 T3 T4 T5 T6 

62.5ns 125ns 250ns 200ns 125ns 125ns 

500Kpps 0.5μs 1μs 2μs 2μs 1μs 1μs 

200Kpps 1.25μs 2.5μs 5μs 5μs 2.5μs 2.5μs 





Max. input pulse 

frequency 

Voltage 

specification 

Forward 

specification 

High-speed pulse Line driver 4Mpps 5V < 25mA 

Low-speed pulse 

D: Source of pulse command 

Line driver 500Kpps 2.8V ~ 3.7V < 25mA 

Open collector 200Kpps 24V (Max.) < 25mA 

Setting value Input pulse interface Remark 

0 Open collector for low-speed pulse 

1 Line driver for high-speed pulse 

CN1 Terminal Identification: 

PULSE, SIGN 


PULSE_D, SIGN_D 

Position pulse can be input from these terminals, /PULSE (41), PULSE (43), HPULSE (38), 

/HPULSE (36), /SIGN (37), SIGN (39) and HSIGN (42), /HSIGN (40). It can be an open-collector 

circuit or line driver circuit. For the detail wiring, please refer to 3.6.1. 

6.2.2 Structure of Position Control Mode 

Basic Structure: 

In order to pursue the goal of perfection in position control, the pulse signal should be 

modified through position command processing and the structure is shown as the figure 

below: 




Using parameter P1-01 can select P mode. Electronic gear ratio can be set in P modes to 

set proper position revolution. ASDA-B2 series servo drive also provides low-pass filter, 

which are used whenever the motor and load need to be operated more smoothly. As for 

the information of electronic gear ratio, and low-pass filter, please refer to the following 

sections 6.2.3 and 6.2.4. 

Pulse Inhibit Input Function (INHP) 

INHP is activated via digital inputs (Please refer to parameter P2-10 ~ P2-17,P2-36 and DI 

INHP(07) in Table 7.1).When the drive is in position mode, if INHP is activated, the 

external pulse input command is not valid and the motor will stop. 

6.2.3 Electronic Gear Ratio 

Relevant parameters: 


P1-44▲ GR1 Electronic Gear Ratio (1st Numerator) (N1) 

0159H 

Operation 


Section 6.2.3 

Default: 16 

Control 

Mode: PT 

Unit: pulse 

Range: 1 ~ (2 26 -1) 


Display 

Format: Decimal 

Settings: 

This parameter is used to set the numerator of the electronic gear ratio. The 

denominator of the electronic gear ratio is set by P1-45. P2-60 ~ P2-62 are used 

to set the additional numerators. 

Please note: 

1. In PT mode, the setting value of P1-44 can be changed only when the servo 

drive is enabled (Servo On). 




P1-45▲ GR2 Electronic Gear Ratio (Denominator) (M) 

Address: 015AH 

015BH 

Operation 


Section 6.2.3 

Default: 10 

Control 

Mode: PT 

Unit: pulse 

Range: 1 ~ (2 31 -1) 


Settings: 

Display 


This parameter is used to set the denominator of the electronic gear ratio. The 

numerator of the electronic gear ratio is set by P1-44. P2-60 ~ P2-62 are used to 

set the additional numerators. 

As the wrong setting may cause motor to run chaotically (out of control) and it 

may lead to personnel injury, therefore, ensure to observe the following rule 

when setting P1-44, P1-45. 

The electronic gear ratio setting (Please also see P1-44, P2-60 ~ P2-62): 

Pulse input 

f1 

N 

M 

Position 

command 

f2 = f1 x N M 

f1: Pulse input f2: Position command 

N: Numerator, the setting value of P1-44 or 

P2-60 ~ P2-62 

M: Denominator, the setting value of P1-45 

The electronic gear ratio setting range must be within: 1/50



Electronic Gear Ratio 

Corresponding travel distance 

per pulse 

When the electronic 

gear ratio is not 

used 

= 1 1 

= 3x1000 

4x2500 = 3000 

10000 

m 

When the electronic 

gear ratio is used 

= 10000 

3000 

=1 m 

6.2.4 Low-pass Filter 


Smooth Constant of Position Command Address: 0110H 

P1-08 PFLT 

(Low-pass Filter) 

0111H 

Operation 


Section 6.2.4 

Default: 0 

Control 

Mode: PT 

Unit: 10ms 

Range: 0 ~ 1000 


Display 


Settings: 0: Disabled 

For example: 11=110 msec 

Target position 

Position 

PFLT 

Time (ms) 




6.2.5 Position Loop Gain Adjustment 

Before performing position control (setting position control block diagram), the users 

should complete the speed control setting by using Manual mode (parameter P-32) since 

the position loop contains speed loop. Then, adjust the Proportional Position Loop Gain, 

KPP (parameter P2-00) and Position Feed Forward Gain, PFG (parameter P2-02). Or use 

Auto mode to adjust the gain of speed and position control block diagram automatically. 

1) Proportional Position Loop Gain: To increase this gain can enhance the position loop 

responsiveness. 

2) Position Feed Forward Gain: To increase this gain can reduce the position track error 

during operation. 

The position loop responsiveness cannot exceed the speed loop responsiveness, and it is 

recommended that the speed loop responsiveness should be at least four times faster 

than the position loop responsiveness. This also means that the setting value of 

Proportional Speed Loop Gain, KVP should be at least four times faster than Proportional 

Position Loop Gain, KPP. 

The equation is shown as follows: 

fp< fv 4 , fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz) 

KPP = 2 × π × fp. 

For example, the desired position loop responsiveness is equal to 20 Hz. 

Then, KPP = 2 × π × 20= 125 rad/s. 



P2-00 KPP Proportional Position Loop Gain 

0201H 

Operation 


Section 6.2.5 

Default: 35 

Control 

Mode: PT 

Unit: rad/s 

Range: 0 ~ 2047 


Display 


Settings: 

This parameter is used to set the position loop gain. It can increase stiffness, 

expedite position loop response and reduce position error. However, if the 

setting value is over high, it may generate vibration or noise. 




P2-02 PFG Position Feed Forward Gain 


0205H 

Operation 


Section 6.2.5 

Default: 50 

Control 

Mode: PT 

Unit: % 

Range: 0 ~ 100 


Settings: 

Display 


This parameter is used to set the feed forward gain when executing position 

control command. When using position smooth command, increase gain can 

improve position track deviation. When not using position smooth command, 

decrease gain can improve the resonance condition of mechanical system. 

When the value of Proportional Position Loop Gain, KPP is too great, the position loop 

responsiveness will be increased and it will result in small phase margin. If this happens, 

the rotor of motor will oscillate. At this time, the users have to decrease the value of KPP 

until the rotor of motor stop oscillating. When there is an external torque command 

interrupted, over low KPP value will let the motor cannot overcome the external strength 

and fail to meet the requirement of reasonable position track error demand. Adjust feed 

forward gain, PFG (P2-02) to efficiently reduce the dynamic position track error. 




6.3 Speed Control Mode 

The speed control mode (S or Sz) is usually used on the applications of precision speed 

control, such as CNC machine, etc. ASDA-B2 series servo drive supports two kinds of 

command sources in speed control mode. One is external analog signal and the other is 

internal parameter. The external analog signal is from external voltage input and it can 

control the speed of servo motor. There are two usage of internal parameter, one is set 

different speed command in three speed control parameters before operation and then using 

SPD0 and SPD1 of CN1 DI signal perform switching. The other usage is using serial 

communication to change the setting value of parameter. 

Beside, in order to make the speed command switch more smoothly, ASDA-B2 series servo 

drive also provides complete S-curve profile for speed control mode. For the closed-loop 

speed control, ASDA-B2 series servo drive provides gain adjustment function and an 

integrated PI or PDFF controller. Besides, two modes of tuning technology (Manual/Auto) are 

also provided for the users to select (parameter P2-32). 

There are two turning modes for gain adjustment: Manual and Auto modes. 

• Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and 

auxiliary function will be disabled. 

• Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten 

levels of system bandwidth. The parameter set by user is default value. 

6.3.1 Command Source of Speed Control Mode 

Speed command Sources: 

1) External analog signal: External analog voltage input, -10V to +10V 

2) Internal parameter: P1-09 to P1-11 

Speed 

Command 

CN1 DI 

Signal Command Source Content Range 

SPD1 SPD0 

S1 0 0 Mode 

S 

External 

analog 

signal 

Voltage between V- 

REF-GND 

+/-10 V 

Sz N/A Speed command is 0 0 

S2 0 1 

P1-09 

-50000 ~ 

50000 

S3 1 0 Internal parameter 

P1-10 

S4 1 1 P1-11 

-50000 ~ 

50000 

-50000 ~ 

50000 




• State of SPD0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally 

Closed) 

• When SPD0 and SPD1 are both = 0 (OFF), if the control mode of operation is Sz, 

then the speed command is 0. Therefore, if the users do not use analog voltage as 

speed command, the users can choose Sz mode and avoid the zero point drift 

problem of analog voltage signal. If the speed control mode is S mode, then the 

command is the analog voltage between V-REF and GND. The setting range of the 

input voltage is from -10V to +10V and the corresponding motor speed is 

adjustable (Please see parameter P1-40). 

• When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is internal 

parameter (P1-09 to P1-11). The command is valid (enabled) after either SPD0 or 

SPD1 is changed. 

• The range of internal parameters is within -50000 ~ +50000 r/min. Setting value = 

Range x Unit (0.1 r/min). For example, if P1-09 is set to +30000, the setting value 

= +30000 x 0.1 r/min = +3000 r/min. 

The speed command that is described in this section not only can be taken as speed 

command in speed control mode (S or Sz mode) but also can be the speed limit input 

command in torque control mode (T or Tz mode). 

6.3.2 Structure of Speed Control Mode 


In the figure above, the speed command processing is used to select the command 

source of speed control according to chapter 6.3.1, including proportional gain (P1-40) 

and S-curve filter smoothing strategy of speed control. The speed control block diagram 

is used to manage the gain parameters of the servo drive and calculate the current input 

provided to motor instantaneously. The resonance suppression block diagram is used to 

suppress the resonance of mechanical system. 




The function and structure of speed command processing is shown as the figure below: 

The command source is selected according to the state of SPD0, SPD1 and parameter P1- 

01 (S or Sz). Whenever the command signal needs to be more smoothly, we recommend 

the users to use S-curve and low-pass filter. 

6.3.3 Smoothing Strategy of Speed Control Mode 

S-curve Filter 

The S-curve filter is a speed smoothing command which provides 3 steps accel / decel S- 

curve to smooth the speed command change of the motor during acceleration and 

deceleration. Using S-curve filter can let the servo motor run more smoothly in response 

to a sudden speed command change. Since the speed and acceleration curve are both 

continuous, in order to avoid the mechanical resonance and noise may occur due to a 

sudden speed command (differentiation of acceleration), using S-curve filter not only can 

improve the performance when servo motor accelerate or decelerate but also can make 

the motor run more smoothly. S-curve filter parameters include P1-34 Acceleration Time 

(TACC), P1-35 Deceleration Time (TDEC) and Accel /Decel S-curve (TSL), and the users can 

use these three parameters to improve the motor performance during acceleration, 

deceleration and operation. ASDA-B2 series servo drives also support the time calculation 

of completing speed command. T (ms) is the operation (running) time. S (r/min) is 

absolute speed command, i.e. the absolute value (the result) after starting speed 

subtracts the final speed. 






P1-34 TACC Acceleration Time 

0145H 

Operation 


Section 6.3.3 

Default: 200 

Control 

Mode: S 

Unit: ms 

Range: 1 ~ 20000 


Display 


Settings: 

This parameter is used to determine the acceleration time to accelerate from 0 to 

its rated motor speed. The functions of parameters P1-34, P1-35 and P1-36 are 

each individual. 

Please note: 

1. When the source of speed command is analog command, the maximum 

setting value of P1-36 is set to 0, the acceleration and deceleration function 

will be disabled. 




P1-35 TDEC Deceleration Time 


0147H 

Operation 


Section 6.3.3 

Default: 200 

Control 

Mode: S 

Unit: ms 

Range: 1 ~ 20000 


Settings: 

Display 





Please note: 





P1-36 TSL Accel /Decel S-curve 

0149H 

Operation 


Section 6.3.3 

Default: 0 

Control 

Mode: S 

Unit: ms 

Range: 0 ~ 10000 (0: Disabled) 


Display 


Settings: 

This parameter is used to make the motor run more smoothly when startup and 

windup. Using this parameter can improve the motor running stability. 

TACC: P1-34, Acceleration time 

TDEC: P1-35, Deceleration time 




TSL: P1-36, Accel /Decel S-curve 

Total acceleration time = TACC + TSL 

Total deceleration time = TDEC + TSL 

The functions of parameters P1-34, P1-35 and P1-36 are each individual. When 

P1-36 is set to 0 (Disabled), the settings of P1-34, P1-35 are still effective. It 

indicates that the parameters P1-34 and P1-35 will not become disabled even 

when P1-36 is disabled. 

Please note: 




Analog Speed Command S-curve Filter 

ASDA-B2 series servo drives also provide Analog Speed Command S-curve Filter for the 

smoothing in response to a sudden analog input signal. 

Speed (rpm) 

3000 

Analog speed command 

Motor Torque 

0 

1 2 3 4 5 6 7 8 9 Time (sec) 

-3000 

The analog speed command S-curve filter is for the smoothing of analog input signal and 

its function is the same as the S-curve filter. The speed and acceleration curve of analog 

speed command S-curve filter are both continuous. The above figure shows the curve of 

analog speed command S-curve filter and the users can see the ramp of speed command 

is different during acceleration and deceleration. Also, the users can see the difference of 

input command tracking and can adjust time setting by using parameter P1-34, P1-35, P1- 

36 to improve the actual motor performance according to actual condition. 




Analog Speed Command Low-pass Filter 

Analog Speed Command Low-pass Filter is used to eliminate high frequency response and 

electrical interference from an analog speed command and it is also with smoothing 

function. 


P1-06 SFLT 

Accel / Decel Smooth Constant of Analog 

Speed Command (Low-pass Filter) 

Address: 010CH 

010DH 

Operation 


Section 6.3.3 

Default: 0 

Control 

Mode: S 

Unit: ms 



Display 



NOTE 

1) If the setting value of parameter P1-06 is set to 0, it indicates the function of this 

parameter is disabled and the command is just By-Pass. 

Target Speed 

SFLT 




6.3.4 Analog Speed Input Scaling 

The analog voltage between V_REF and GND determines the motor speed command. 

Using with parameter P1-40 (Max. Analog Speed Command) can adjust the speed control 

ramp and its range. 

5000rpm 

3000rpm 

The speed control ramp is 

determined by parameter P1-40 

-10 

-5 

5 10 

Analog Input Voltage (V) 

-3000rpm 

-5000rpm 


P1-40▲ VCM Max. Analog Speed Command or Limit 


0151H 

Operation 


Section 6.3.4 

Default: rated speed 

Control 

Mode: S, T 

Unit: r/min 

Range: 0 ~ 10000 


Settings: 

Display 


In Speed mode, this parameter is used to set the maximum analog speed 

command based on the maximum input voltage (10V). 

In Torque mode, this parameter is used to set the maximum analog speed limit 

based on the maximum input voltage (10V). 

For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, 

it indicates that the speed command is 3000 r/min. If P1-40 is set to 3000, but 

the input voltage is changed to 5V, then the speed command is changed to 1500 

r/min. 

Speed Command / Limit = Input Voltage Value x Setting value of P1-40 / 10 




6.3.5 Timing Chart of Speed Control Mode 

Internal speed 

command 

S4 (P1-11) 

S3 (P1-10) 

S2 (P1-09) 


voltage or zero (0) 

S1 

SPD0 

OFF 

ON 

OFF 

ON 

External I/O signal 

SPD1 

OFF 

ON 

SON 

ON 

NOTE 

1) OFF indicates normally open and ON indicates normally closed. 

2) When speed control mode is Sz, the speed command S1=0; when speed control mode is S, 

the speed command S1 is external analog voltage input (Please refer to P1-01). 

3) After Servo ON, the users can select command according to the state of SPD0~1. 

6.3.6 Speed Loop Gain Adjustment 

The function and structure of speed control mode is shown as the figure below: 




There are two turning modes of gain adjustment: Manual and Auto modes. The gain of 

ASDA-B2 series servo drives can be adjusted by using any one of three tuning modes. 

• Manual Mode: User-defined loop gain adjustment. When using this mode, all auto 

and auxiliary function will be disabled. 

• Auto Mode: Continuous adjustment of loop gains according to measured inertia, 

with ten levels of system bandwidth. The parameter set by user is default value. 

The mode of gain adjustment can be selected by parameter P2-32: 


P2-32▲ AUT2 Tuning Mode Selection 

0241H 

Operation 


Section 5.6, 

Default: 0 

Section 6.3.6 

Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 2 


Display 


Settings: 

0: Manual mode 

1: Auto Mode [Continuous adjustment] 

2: Semi-Auto Mode [Non-continuous adjustment] 

Explanation of manual mode: 

1. When P2-32 is set to mode#0, the setting value of P2-00, P2-02, P2-04, P2-06, 

P2-07, P2-25 and P2-26 can be user-defined. When switching mode #1 or #2 

to #0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2- 

26 will change to the value that measured in #1 auto-tuning mode or #2 

semi-auto tuning mode. 

Explanation of auto-tuning mode: 

The servo drive will continuously estimate the system inertia, save the measured 

load inertia value automatically and memorized in P1-37 every 30 minutes by 

referring to the frequency response settings of P2-31. 

1. When switching mode #1 or #2 to #0, the servo drive will continuously 

estimate the system inertia, save the measured load inertia value 

automatically and memorized in P1-37. Then, set the corresponding 

parameters according to this measured load inertia value. 

2. When switching mode#0 or #1 to #2, enter the appropriate load inertia value 

in P1-37. 

3. When switching mode#1 to #0, the setting value of P2-00, P2-04 and P2-06 

will change to the value that measured in #1 auto-tuning mode. 




Explanation of semi-auto tuning mode: 

1. When switching mode #2 to #0, the setting value of P2-00, P2-04, P2-06, P2- 

25 and P2-26 will change to the value that measured in #1 auto-tuning mode. 

2. After the system inertia becomes stable (The displau of P2-33 will show 1), it 

will stop estimating the system inertia, save the measured load inertia value 

automatically, and memorized in P1-37. However, when P2-32 is set to 

mode#1 or #2, the servo drive will continuously perform the adjustment for a 

period of time. 

3. When the value of the system inertia becomes over high, the display of P2-33 

will show 0 and the servo drive will start to adjust the load inertia value 

continuously. 

Manual Mode 

When Tuning Mode Settings of P2-32 is set to 0, the users can define the proportional 

speed loop gain (P2-04), speed integral gain (P2-06) feed forward gain (P2-07) and ratio of 

load inertia to servo motor Inertia (1-37). Please refer to the following description: 

• Proportional gain: Adjust this gain can increase the position loop responsiveness. 

• Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed 

loop and eliminate the steady error. Also, reduce the value of phase margin. Over 

high integral gain will result in the unstable servo system. 

• Feed forward gain: Adjust this gain can decrease the phase delay error 



P2-04 KVP Proportional Speed Loop Gain 

0209H 

Operation 


Section 6.3.6 

Default: 500 

Control 

Mode: ALL 

Unit: rad/s 

Range: 0 ~ 8191 


Display 


Settings: 

This parameter is used to set the speed loop gain. When the value of 

proportional speed loop gain is increased, it can expedite speed loop response. 

However, if the setting value is over high, it may generate vibration or noise. 





P2-06 KVI Speed Integral Compensation 

020DH 

Operation 


Section 6.3.6 

Default: 100 

Control 

Mode: ALL 

Unit: rad/s 

Range: 0 ~ 1023 


Display 


Settings: 

This parameter is used to set the integral time of speed loop. When the value of 

speed integral compensation is increased, it can improve the speed response 

ability and decrease the speed control deviation. However, if the setting value is 

over high, it may generate vibration or noise. 

Address: 020EH 

P2-07 KVF Speed Feed Forward Gain 

020FH 

Operation 


Section 6.3.6 

Default: 0 

Control 

Mode: ALL 

Unit: % 

Range: 0 ~ 100 


Display 


Settings: 

This parameter is used to set the feed forward gain when executing speed 

control command. 

When using speed smooth command, increase gain can improve speed track 

deviation. 

When not using speed smooth command, decrease gain can improve the 

resonance condition of mechanical system. 




In theory, stepping response can be used to explain proportional gain (KVP), integral gain 

(KVI) and feed forward gain (KVF). Now we use frequency area and time area respectively 

to explain the logic. 

Frequency Domain 




Time Domain 




In general, the equipment, such as spectrum analyzer is needed and used to analyze 

when using frequency domain method and the users also should have this kind of 

analysis technology. However, when using time domain method, the users only need to 

prepare an oscilloscope. Therefore, the general users usually use time domain method 

with the analog DI/DO terminal provided by the servo drive to adjust what is called as PI 

(Proportional and Integral) type controller. As for the performance of torque shaft load, 

input command tracking and torque shaft load have the same responsiveness when using 

frequency domain method and time domain method. The users can reduce the 

responsiveness of input command tracking by using input command low-pass filter. 

Auto Mode (Continuous adjustment)) 

This Auto Mode provides continuous adjustment of loop gains according to measured 

inertia automatically. It is suitable when the load inertia is fixed or the load inertia change 

is small and is not suitable for wide range of load inertia change. The period of 

adjustment time is different depending on the acceleration and deceleration of servo 

motor. To change the stiffness and responsiveness, please use parameter P2-31. 

Motor Speed 

W 

Inertia Measurement 

J 




6.3.7 Resonance Suppression 

The resonance of mechanical system may occur due to excessive system stiffness or 

frequency response. However, this kind of resonance condition can be improved, 

suppressed, even can be eliminated by using low-pass filter (parameter P2-25) and notch 

filter (parameter P2-23, P2-24) without changing control parameter. 



P2-23 NCF1 Notch Filter 1 (Resonance Suppression) 

022FH 

Operation 


Section 6.2.5 

Default: 1000 

Control 

Mode: ALL 

Unit: Hz 

Range: 50 ~ 2000 


Display 


Settings: 

This parameter is used to set first resonance frequency of mechanical system. It 

can be used to suppress the resonance of mechanical system and reduce the 

vibration of mechanical system. 

If P2-24 is set to 0, this parameter is disabled. 

The parameters P2-23 and P2-24 are the first group of notch filter parameters 

and the parameters P2-43 and P2-44 are the second group of notch filter 

parameters. 

Notch Filter Attenuation Rate 1 


P2-24 DPH1 

(Resonance Suppression) 

0231H 

Operation 


Section 6.3.7 

Default: 0 

Control 

Mode: ALL 

Unit: dB 



Display 


Settings: 

This parameter is used to set magnitude of the resonance suppression that is set 

by parameter P2-23. If P2-24 is set to 0, the parameters P2-23 and P2-24 are 

both disabled. 






parameters. 



0257H 

Operation 


Section 6.3.7 

Default: 1000 

Control 

Mode: ALL 

Unit: Hz 

Range: 50 ~ 2000 


Display 


Settings: 

This parameter is used to set second resonance frequency of mechanical system. 

It can be used to suppress the resonance of mechanical system and reduce the 





parameters. 



P2-44 DPH2 


0259H 

Operation 


Section 6.3.7 

Default: 0 

Control 

Mode: ALL 

Unit: dB 

Range: 0 ~ 32 


Display 


Settings: 









025BH 

Operation 


Section 6.3.7 

Default: 1000 

Control 

Mode: ALL 

Unit: Hz 

Range: 50 ~ 2000 


Display 


Settings: 

This parameter is used to set third resonance frequency of mechanical system. It 






P2-46 DPH3 


025DH 

Operation 


Section 6.3.7 

Default: 0 

Control 

Mode: ALL 

Unit: dB 

Range: 0 ~ 32 


Display 


Settings: 







P2-25 NLP 

Low-pass Filter Time Constant 



0233H 

Operation 


Section 6.3.7 

Default: 0.2 (1kW and below 

models) or 0.5 (other 

models) 

2 (1kW and below 

models) or 5 (other 

models) 

Control 

Mode: ALL 

Unit: 1ms 

0.1ms 

Range: 0.0 ~ 100.0 0 ~ 1000 


Display 

Format: One-digit 

Decimal 

Input Value 

1.5 = 1.5 ms 

Example: 

15 = 1.5 ms 

Settings: 

This parameter is used to set low-pass filter time constant of resonance 

suppression. 


There are two groups of notch filters provided by ASDA-A2 series. The first group of notch 

filter is P2-43 and P2-44, and the second group of notch filter is P2-45 and P2-46. When there 

is resonance, please set P2-47 to 1 or 2 (Auto mode), and then the servo drive will find 

resonance frequency and suppress the resonance automatically. After suppressing the 

resonance point, the system will memorize the notch filter frequency into P2-43 and P-45, and 

memorize the notch filter attenuation rate into P2-44 and P2-46. 

When P2-47 is set to 1, the resonance suppression will be enabled automatically. After the 

mechanical system becomes stable (approximate 20 minutes), the setting value of P2-47 will 

return to 0 (Disable auto resonance suppression function). When P2-47 is set to 2, the system 

will find the resonance point continuously even after the mechanical system becomes stable. 




When P2-47 is set to 1 or 2, if the resonance conditions can not be eliminated, we recommend 

the users to check the settings of P2-44 and P2-46. If either of the setting value of P2-44 and 

P2-46 is set to 32, please decrease the speed frequency response and estimate the resonance 

point again. If the resonance conditions can not be eliminated when the setting values of P2- 

44 and P2-46 are both less than 32, please set P2-47 to 0 first, and increase the setting value 

of P2-44 and P2-46 manually. If the resonance exists still after increasing the setting value of 

P2-44 and P2-46, please decrease the value of speed frequency response again and then use 

the resonance suppression function again. 

When increasing the setting value of P2-44 and P2-46 manually, ensure to pay close attention 

on the setting value of P2-44 and P2-46. If the value of P2-44 and P2-46 is greater than 0, it 

indicates that the corresponding resonance frequency of P2-43 and P2-45 is found through 

auto resonance suppression function. If the value of P2-44 and P2-46 is equal to 0, it indicates 

that the value of P2-43 and P2-45 will be the default value 1000 and this is not the frequency 

found by auto resonance suppression function. At this time, if the users increase the value of 

notch filter attenuation rate which does not exist, the performance of the current mechanical 

system may deteriorate. 

Settings of P2-47 

Current Value Desired Value Function 

0 1 

Clear the setting value of P2-43 ~ P2-46 and enable 

auto resonance suppression function. 

0 2 



1 0 

Save the setting value of P2-43 ~ P2-46 and disable 


1 1 



1 2 

Do not clear the setting value of P2-43 ~ P2-46 and 

enable auto resonance suppression function 

continuously. 

2 0 

Save the setting value of P2-43 ~ P2-46 and disable 


2 1 



2 2 

Do not clear the setting value of P2-43 ~ P2-46 and 

enable auto resonance suppression function 

continuously. 




Flowchart of auto resonance suppression operation: 




Low-pass filter 

Please use parameter P2-25. The figure below shows the resonant open-loop gain. 

Gain 

Frequency 

When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of 

Low-pass frequency (BW) will become smaller (see the figure below). The resonant 

condition is improved and the frequency response and phase margin will also decrease. 

Gain 

0dB 

BW 

Frequency 

Notch Filter 

Usually, if the users know the resonance frequency, we recommend the users can 

eliminate the resonance conditions directly by using notch filter (parameter P2-23, P2-24). 

However, the range of frequency setting is from 50 to 1000Hz only and the range of 

resonant attenuation is 0~32 dB only. Therefore, if the resonant frequency is out of this 

range, we recommend the users to use low-pass filter (parameter P2-25) to improve 

resonant condition. 

Please refer to the following figures and explanation to know how to use notch filter and 

low-pass filter to improve resonant condition. 




Use Notch Filter to suppress resonance 

Gain 

Resonance 

Point 

Gain 

Notch Filter 

Gain 

Resonance 

conditions 

is suppressed 

Low-pass 

Frequency 

0db 

Attenuation 

Rate P2-24 

Low-pass 

Frequency 

Resonance 

Frequency 

. 

Frequency 

Resonance 

Frequency 

P2-23 

Frequency 

Resonance 

Frequency . 

Frequency 

Use Low-pass Filter to suppress resonance 

Gain 

Resonance 

Point 

Low-pass 

Frequency 

Gain 

0db 

Attenuation 

Rate -3db 

. 

Low-pass Filter 

Cut-off Frequency 

of Low-pass Filter 

= 10000 / P2-25 - Hz 

Gain 

Resonance 

conditions 

is suppressed 

Low-pass 

Frequency 

Resonance 

Frequency 

Frequency 

Frequency 

Resonance 

Frequency 

. 

Frequency 

When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of 

Low-pass frequency will become smaller (see the figure on page 6-26). The resonant 

condition is improved but the frequency response and phase margin will also decrease 

and the system may become unstable. Therefore, if the users know the resonance 

frequency, the users can eliminate the resonance conditions directly by using notch filter 

(parameter P2-23, P2-24). Usually, if the resonant frequency can be recognized, we 

recommend the users can directly use notch filter (parameter P2-23, P2-24) to eliminate 

the resonance. However, if the resonant frequency will drift or drift out of the notch filter 

range, we recommend the users not to use notch filter and use low-pass filter to improve 

resonant conditions. 




6.4 Torque Control Mode 

The torque control mode (T or Tz) is usually used on the applications of torque control, such 

as printing machine, spinning machine, twister, etc. Delta ASDA-B2 series servo drive 

supports two kinds of command sources in torque control mode. One is external analog 

signal and the other is internal parameter. The external analog signal is from external voltage 

input and it can control the torque of servo motor. The internal parameters are from P1-12 to 

P1-14 which are used to be the torque command in torque control mode. 

6.4.1 Command Source of Torque Control Mode 

Torque command Sources: 

1) External analog signal: External analog voltage input, -10V to +10V 

2) Internal parameter: P1-12 to P1-14 

The command source selection is determined by the DI signal of CN1 connector. 

Torque 

Command 

DI signal of 

CN1 Command Source Content Range 

TCM1 TCM0 


signal 

Voltage between 

T-REF-GND 

T1 0 0 Mode 

T 

+/- 10 V 

Tz None Torque command is 0 0 

T2 0 1 

P1-12 +/- 300 % 

T3 1 0 Internal parameter 

P1-13 +/- 300 % 

T4 1 1 P1-14 +/- 300 % 

• State of TCM0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally 

Closed) 

• When TCM0 and TCM1 are both 0 (OFF), if the control mode of operation is Tz, 

then the command is 0. Therefore, if the users do not use analog voltage as torque 

command, the users can choose Tz mode to operation torque control to avoid the 

zero point drift problem of analog voltage. If the control mode of operation is T, 

then the command is the analog voltage between T-REF and GND. The setting 

range of the input voltage is from -10V to +10V and the corresponding torque is 

adjustable (see parameter P1-41). 

• When at least one of TCM0 and TCM1 is not 0 (OFF), the torque command is 

internal parameter. The command is valid (enabled) after either TCM0 or TCM1 is 

changed. 

The torque command that is described in this section not only can be taken as torque 

command in torque control mode (T or Tz mode) but also can be the torque limit input 

command in position mode (P mode) and speed control mode (S or Sz mode). 




6.4.2 Structure of Torque Control Mode 


The toque command processing is used to select the command source of torque control 

according to chapter 6.4.1, including max. analog torque command (parameter P1-41) 

and smoothing strategy of torque control mode. The current control block diagram is 

used to manage the gain parameters of the servo drive and calculate the current input 

provided to motor instantaneously. As the current control block diagram is too 

complicated, setting the parameters of current control block diagram is not allowed. The 

function and structure of torque command processing is shown as the figure below: 

The command source is selected according to the state of TCM0, TCM1 and parameter 

P1-01 (T or Tz). Whenever the command signal needs to be more smoothly, we 

recommend the users to use proportional gain (scalar) and low-pass filter to adjust torque. 




6.4.3 Smoothing Strategy of Torque Control Mode 


P1-07 TFLT 

Smooth Constant of Analog Torque 

Command (Low-pass Filter) 


010FH 

Operation 


Section 6.4.3 

Default: 0 

Control 

Mode: T 

Unit: ms 



Display 



NOTE 

1) If the setting value of parameter P1-07 is set to 0, it indicates the function of this 

parameter is disabled and the command is just By-Pass. 

Target Speed 

TFLT 

6.4.4 Analog Torque Input Scaling 

The analog voltage between T_REF and GND controls the motor torque command. Using 

with parameter P1-41 can adjust the torque control ramp and its range. 

300% 

100% 

The torque control ramp is 

determined by parameter P1-41 


-10 

-5 

5 10 

Analog Input Voltage (V) 

-100% 

-300% 





P1-41▲ TCM Max. Analog Torque Command or Limit 


0153H 

Operation 


Section 6.4.4 

Default: 100 

Control 

Mode: ALL 

Unit: % 

Range: 0 ~ 1000 


Settings: 

Display 


In Torque mode, this parameter is used to set the maximum analog torque 


In PT and Speed mode, this parameter is used to set the maximum analog 

torque limit based on the maximum input voltage (10V). 

For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, 

it indicates that the torque command is 100% rated torque. If P1-41 is set to 100, 

but the input voltage is changed to 5V, then the torque command is changed to 

50% rated torque. 

Torque Command / Limit = Input Voltage Value x Setting value of P1-41 / 10 

6.4.5 Timing Chart of Torque Control Mode 

Internal speed 

command 

T4 (P1-14) 

T3 (P1-13) 

T2 (P1-12) 


voltage or zero (0) 

T1 

TCM0 

OFF 

ON 

OFF 

ON 

External I/O signal 

TCM1 

OFF 

ON 

SON 

ON 

NOTE 

1) OFF indicates normally open and ON indicates normally closed. 

2) When torque control mode is Tz, the torque command T1=0; when torque control mode is 

T, the speed command T1 is external analog voltage input (Please refer to P1-01). 

3) After Servo ON, the users can select command according to the state of TCM0~1. 




6.5 Control Modes Selection 

Except signal control mode operation, ASDA-B2 series AC drive also provide PT-S, S-T, PT-T, 

these three multiple modes for the users to select. 

1) Speed / Position mode selection: PT-S 

2) Speed / Torque mode selection: S-T 

3) Torque / Position mode selection: PT-T 

Mode Name Code Description 

Dual Mode 

PT-S 06 

PT-T 07 

S-T 

0A 

Either PT or S control mode can be selected via the Digital 

Inputs (DI) 

Either PT or T control mode can be selected via the Digital 

Inputs (DI) 

Either S or T control mode can be selected via the Digital 

Inputs (DI) 

Sz and Tz mode selection is not provided. In order to avoid using too much DI inputs, we 

recommend that the users can use external analog signal as input command in speed and 

torque mode to reduce the use of DI inputs (SPD0~1 or TCM0~1). 

Please refer to table 3.B and table 3.C in section 3.3.2 to see the default pin number of DI/DO 

signal. 

6.5.1 Speed / Position Control Mode Selection 

PT-S Mode: 

The command source of PT-S mode is from external input pulse. The speed command can 

be the external analog voltage or internal parameters (P1-09 to P1-11). The speed and 

position mode switching is controlled by the S-P signal. The timing chart of speed / 

position control mode selection is shown as the figure below: 




6.5.2 Speed / Torque Control Mode Selection 

S-T Mode: 

The speed command can be the external analog voltage or internal parameters (P1-09 to 

P1-11) and SPD0~1 is used to select speed command. The same as speed command, the 

torque command can be the external analog voltage or internal parameters (P1-12 to P1- 

14) and TCM0~1 is used to select torque command. The speed and torque mode 

switching is controlled by the S-T signal. 

The timing chart of speed / torque control mode selection is shown as the figure below: 

In torque mode (when S-T is ON), torque command is selected by TCM0~1. When 

switching to the speed mode (when S-T is OFF), the speed command is selected by 

SPD0~1, and then the motor will immediately rotate following the command. After S-T is 

ON again, it will immediately return to torque mode. 

6.5.3 Torque / Position Control Mode Selection 

PT-T Mode: 

The command source of PT-T mode is from external input pulse. The torque command 

can be the external input pulse or internal parameters (P1-12 to P1-14). The torque and 

position mode switching is controlled by T-P signal. 

The timing chart of speed / position control mode selection is shown as the figure below: 




6.6 Others 

6.6.1 Speed Limit 

The max. servo motor speed can be limited by using parameter P1-55 no matter in 

position, speed or torque control mode. 

The command source of speed limit command is the same as speed command. It can be 

the external analog voltage but also can be internal parameters (P1-09 to P1-11). For 

more information of speed command source, please refer to chapter 6.3.1. 

The speed limit only can be used in torque mode (T mode) to limit the servo motor speed. 

When the torque command is the external analog voltage, there should be surplus DI 

signal that can be treated as SPD0~1 and be used to select speed limit command (internal 

parameter). If there is not enough DI signal, the external voltage input can be used as 

speed limit command. When the Disable / Enable Speed Limit Function Settings in 

parameter P1-02 is set to 1, the speed limit function is activated. 

The timing chart of speed limit is shown as the figure below: 

Disable / Enable Speed Limit Function 

Settings in parameter P1-02 is set to 0 

Disable / Enable Speed Limit Function 


SPD0~1 INVALID 

SPD0~1 VALID 

Command Source Selection of Speed Limit 

6.6.2 Torque Limit 

The command source of torque limit command is the same as torque command. It can be 

the external analog voltage but also can be internal parameters (P1-12 to P1-14). For 

more information of torque command source, please refer to chapter 6.4.1. 

The torque limit only can be used in position mode (PT mode) and speed mode (S mode) 

to limit the output torque of servo motor. When the position command is the external 

pulse and speed command is the external analog voltage, there should be surplus DI 

signal that can be treated as TCM0~1 used to select torque limit command (internal 

parameter). If there is not enough DI signal, the external voltage input can be used as 

torque limit command. When the Disable / Enable Torque Limit Function Settings in 

parameter P1-02 is set to 1, the torque limit function is activated. 

The timing chart of torque limit is shown as the figure below: 

Disable / Enable Torque Limit Function 


Disable / Enable Torque Limit Function 


TCM0~1 INVALID 

TCM0~1 VALID 

Command Source Selection of Torque Limit 




6.6.3 Analog Monitor 

User can use analog monitor to observe the required analog voltage signals. ASDA-B2 

series provide two analog channels, they are PIN No. 1 and 3 of CN5 connector. The 

parameters relative to analog monitor are shown below. 


P0-03 MON Analog Monitor Output 


0007H 

Operation 


Section 6.6.3 

Default: 00 

Control 

Mode: ALL 

Unit: - 

Range: 00 ~ 77 


Settings: 

Display 


This parameter determines the functions of the analog monitor outputs. 

MON2 

MON1 

Not used 

MON1, MON2 Settings: 

0: Motor speed (+/-8V / maximum motor speed) 

1: Motor torque (+/-8V / maximum torque) 

2: Pulse command frequency (+8Volts / 4.5Mpps) 

3: Speed command (+/-8Volts / maximum speed command) 

4: Torque command (+/-8Volts / maximum torque command) 

5: V_BUS voltage (+/-8Volts / 450V) 

6: Reserved 

7: Reserved 

Please note: For the setting of analog output voltage proportion, refer to the P1- 

04 and P1-05. 

Example: P0-03 = 01 (MON1 is motor speed analog output, MON2 is motor 

torque analog output) 

Motor speed 

MON1 output voltage= 8 × 

(Max. motor speed × 

P1-04 

) 

100 

(unit: Volts) 




Motor toque 


(Max. motor torque × 

P1-05 

) 

100 

(unit: Volts) 

P1-03 AOUT Pulse Output Polarity Setting 


0107H 

Operation 


Section 3.3.3 

Default: 0 

Control 

Mode: ALL 

Unit: - 

Range: 0 ~ 13 


Settings: 

Display 


A: Analog monitor outputs polarity 

0: MON1(+), MON2(+) 

1: MON1(+), MON2(-) 

2: MON1(-), MON2(+) 

3: MON1(-), MON2(-) 

B: Position pulse outputs polarity 

0: Forward output 

1: Reverse output 

P1-04 MON1 Analog Monitor Output Proportion 1 (MON1) 


0109H 

Operation 


Section 6.4.4 

Default: 100 

Control 

Mode: ALL 

Unit: % (full scale) 

Range: 0 ~ 100 


Display 





Settings: 

Please note: 

For the setting of analog output voltage proportion, refer to the P1-03. 



Motor speed 



P1-04 

) 

100 

(unit: Volts) 


Motor toque 


P1-05 

) 

100 

(unit: Volts) 



010BH 

Operation 


Section 6.4.4 

Default: 100 

Control 

Mode: ALL 


Range: 0 ~ 100 


Settings: 

Display 


Please note: 




Motor speed 



P1-04 

) 

100 

(unit: Volts) 


Motor toque 


P1-05 

) 

100 

(unit: Volts) 




Analog Monitor Output Drift Adjustment Address: 0428H 

P4-20 DOF1 

(MON1) 

0429H 

Operation 

Interface: Keypad / Software Communication Related Section: 

Section 6.4.4 

Default: Factory setting 

Control 

Mode: ALL 

Unit: mV 

Range: -800 ~ 800 


Display 


Settings: 

Please note that when P2-08 is set to 10, the users cannot reset this parameter. 

Analog Monitor Output Drift Adjustment Address: 042AH 

P4-21 DOF2 

(MON2) 

042BH 

Operation 


Section 6.4.4 

Default: 0 

Control 

Mode: ALL 

Unit: mV 

Range: -800 ~ 800 


Display 


Settings: 





For example, when the users want to observe the analog voltage signal of channel 1, if 

the monitor output setting range is 8V per 325Kpps, then it is needed to change the 

setting value of parameter P1-04 (Analog Monitor Output Proportion 1) to 50 

(=325Kpps/Max. input frequency). Other related parameters setting include parameter P0- 

03 (A=3) and P1-03 (A=0~3, output polarity setting). In general, when output voltage 

value of Ch1 is V1, the pulse command frequency is equal to (Max. input frequency × 

V1/8) × P1-04/100. 

Because there is an offset value of analog monitor output voltage, the zero voltage level 

of analog monitor output does not match to the zero point of setting value. We 

recommend the users can use Analog Monitor Output Drift Adjustment, DOF1 (parameter 

P4-20) and DOF2 (parameter P4-21) to improve this condition. The maximum output 

voltage range of analog monitor output is ±8V. If the output voltage exceed its limit, it is 

still limited within the range of ±8V. The revolution provided by ASDA-B2 series is 10bit, 

approximated to 13mv/LSB. 

8V 

DOF 

-8V 

6.6.4 Electromagnetic Brake 

When the servo drive is operating, if the digital output BRKR is set to Off, it indicates the 

electromagnetic brake is disabled and motor is stop running and locked. If the digital 

output BRKR is set to ON, it indicates electromagnetic brake is enabled and motor can run 

freely. 

There are two parameters that affect the electromagnetic brake. One is parameter P1-42 

(MBT1) and the other is parameter P1-43 (MBT2). The users can use these two parameters 

to set the On and Off delay time of electromagnetic brake. The electromagnetic brake is 

usually used in perpendicular axis (Z-axis) direction to reduce the large energy generated 

from servo motor. Using electromagnetic brake can avoid the load may slip since there is 

no motor holding torque when power is off. Without using electromagnetic brake may 

reduce the life of servo motor. To avoid malfunction, the electromagnetic brake should be 

activated after servo system is off (Servo Off). 




If the users desire to control electromagnetic brake via external controller, not by the 

servo drive, the users must execute the function of electromagnetic brake during the 

period of time when servo motor is braking. The braking strength of motor and 

electromagnetic brake must be in the same direction when servo motor is braking. Then, 

the servo drive will operate normally. However, the servo drive may generate larger 

current during acceleration or at constant speed and it may the cause of overload (servo 

fault). 

Timing chart for using servo motor with electromagnetic brake: 

ON 

SON 

(DI Input) 

OFF 

OFF 

ON 

BRKR 

(DO Output) 

OFF 

OFF 

MBT1(P1-42) 

MBT2(P1-43) 

ZSPD(P1-38) 

Motor Speed 

BRKR output timing explanation: 

1. When SERVO OFF (when DI SON is not activated), the BRKR output goes Off 

(electromagnetic brake is locked) after the delay time set by P1-43 is reached and 

the motor speed is still higher than the setting value of P1-38. 

2. When SERVO OFF (when DI SON is not activated), the BRKR output goes Off 

(electromagnetic brake is locked) if the delay time set by P1-43 is not reached and 

the motor speed is still lower than the setting value of P1-38. 




Electromagnetic Brake Wiring Diagram 

NOTE 

1) Please refer to Chapter 3 Connections and Wiring for more wiring information. 

2) The BRKR signal is used to control the brake operation. The VDD DC24V power supply 

of the servo drive can be used to power the relay coil (Relay). When BRKR signal is ON, 

the motor brake will be activated. 

3) Please note that the coil of brake has no polarity. 

4) The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage. 




The timing charts of control circuit power and main circuit power: 

L1, L2 

Control Circuit 

Power 

5V 

Control Circuit 

Power 

R, S, T 

Main Circuit 

Power 

BUS Voltage 

READY 

SERVO 

READY 

1 sec 

> 0msec 

800ms 

2 sec 

SERVO ON 

(DI Input) 

SERVO ON 

(DO Output) 

Position \ Speed \ 

Torque Command 

Input 

1 msec (min)+ Response Filter Time of Digital Input ( P2-09) 

Input available 


Chapter 7 Servo Parameters 

7.1 Definition 

There are following five groups for drive parameters: 

Group 0: Monitor parameters 

Group 1: Basic parameters 

Group 2: Extension parameters 

Group 3: Communication parameters 

Group 4: Diagnosis parameters 

(example: P0-xx) 





Abbreviation of control modes: 

PT: Position control mode (command from external signal) 

S : Speed control mode 

T : Torque control mode 

Explanation of symbols (marked after parameter) 

(★) 

(▲) 

(•) 

(•) 

Read-only register, such as P0-00, P0-01, P4-00. 

Parameter cannot be set when Servo On (when the servo drive is enabled), such as P1-00, 

P1-46 and P2-33. 

Parameter is effective only after the servo drive is restarted (after switching power off 

and on), such as P1-01 and P3-00. 

Parameter setting values are not retained when power is off, such as P2-31 and P3-06. 




7.2 Parameters Summary 

Monitor and General Use 

Parameter Name Function Default Unit 

P0-00★ VER Firmware Version 

Factory 

Setting 

Control Mode 

PT S T 

Related 

Section 

N/A O O O - 

P0-01• ALE Drive Fault Code N/A N/A O O O 

P0-02 STS 

Drive Status (Front Panel 

Display) 

11.1 

11.2 

11.3 

00 N/A O O O 7.2 

P0-03 MON Analog Monitor Output 01 N/A O O O 4.3.5 

P0-08★ TSON Servo Startup Time 0 Hour - 

P0-09★ CM1 Status Monitor 1 N/A N/A O O O 4.3.5 





P0-17 CM1A Status Monitor Selection 1 0 N/A - 





P0-46★ SVSTS Servo Output Status Display 0 N/A O O O - 

P1-04 MON1 

P1-05 MON2 

Analog Monitor Output 

Proportion 1 (MON1) 


Proportion 2 (MON2) 

100 

100 

%(full 

scale) 

%(full 

scale) 

O O O 6.4.4 

O O O 6.4.4 


(★) Read-only register. 

(▲) Parameter cannot be set when Servo On (when the servo drive is enabled). 

(•) Parameter is effective only after the servo drive is restarted (after switching power off and 

on). 

(•) Parameter setting values are not retained when power is off. 




Smooth Filter and Resonance Suppression 


P1-06 SFLT 

P1-07 TFLT 

P1-08 PFLT 

Accel / Decel Smooth Constant 

of Analog Speed Command 


Smooth Constant of Analog 

Torque Command (Low-pass 

Filter) 

Smooth Constant of Position 


Control Mode 

PT S T 

Related 

Section 

0 ms O 6.3.3 

0 ms O 6.4.3 

0 10ms O 6.2.4 

P1-34 TACC Acceleration Time 200 ms O 6.3.3 

P1-35 TDEC Deceleration Time 200 ms O 6.3.3 

P1-36 TSL Accel /Decel S-curve 0 ms O 6.3.3 

P1-59 MFLT 

P1-62 FRCL 

P1-63 FRCT 

P1-68 PFLT2 

P2-23 NCF1 

P2-24 DPH1 

P2-43 NCF2 

P2-44 DPH2 

P2-45 NCF3 

P2-46 DPH3 

P2-47 ANCF 

P2-48 ANCL 

P2-25 NLP 

P2-49 SJIT 

Analog Speed Linear Filter 

(Moving Filter) 

Friction Compensation 

Percentage 

Friction Compensation Smooth 

Constant 

Position Command Moving 

Filter 

Notch Filter 1 (Resonance 

Suppression) 




Suppression) 




Suppression) 



Auto Resonance Suppression 

Mode Selection 

Auto Resonance Suppression 

Detection Level 



Speed Detection Filter and Jitter 

Suppression 


(★) 

(▲) 

(•) 

(•) 

0 0.1ms O - 

0 % O O O - 

0 ms O O O - 

0 ms O - 

1000 Hz O O O 6.3.7 

0 dB O O O 6.3.7 

1000 Hz O O O 6.3.7 

0 dB O O O 6.3.7 

1000 Hz O O O 6.3.7 

0 dB O O O 6.3.7 

1 N/A O O O - 

100 N/A O O O - 

2 or 5 0.1ms O O O 6.3.7 

0 sec O O O - 

Read-only register. 

Parameter cannot be set when Servo On (when the servo drive is enabled). 

Parameter is effective only after the servo drive is restarted (after switching power off and 

on). 

Parameter setting values are not retained when power is off. 




Gain and Switch 


Control Mode 

PT S T 

Related 

Section 

P2-00 KPP Proportional Position Loop Gain 35 rad/s O 6.2.5 

P2-01 PPR 

Position Loop Gain Switching 

Rate 

100 % O 6.2.5 

P2-02 PFG Position Feed Forward Gain 50 % O 6.2.5 

P2-03 PFF 

Smooth Constant of Position 

Feed Forward Gain 

5 ms O - 

P2-04 KVP Proportional Speed Loop Gain 500 rad/s O O O 6.3.6 

P2-05 SPR Speed Loop Gain Switching Rate 100 % O O O - 

P2-06 KVI Speed Integral Compensation 100 rad/s O O O 6.3.6 

P2-07 KVF Speed Feed Forward Gain 0 % O O O 6.3.6 

P2-26 DST External Anti-Interference Gain 0 0.001 O O O - 

P2-27 GCC 

Gain Switching Control 

Selection 

0 N/A O O O - 

P2-28 GUT Gain Switching Time Constant 10 10ms O O O - 

P2-29 GPE Gain Switching Condition 1280000 

P2-31 AUT1 

Speed Frequency Response 

Level in Auto and Semi-Auto 

Mode 

pulse 

Kpps 

r/min 

O O O - 

80 Hz O O O 

P2-32▲ AUT2 Tuning Mode Selection 0 N/A O O O 

5.6 

6.3.6 

5.6 

6.3.6 





on). 





Position Control 


Control Mode 

PT S T 

Related 

Section 

P1-01• 

CTL 

Control Mode and Output 

Direction 

0 

pulse 

r/min 

N-M 

O O O 6.1 

P1-02▲ PSTL Speed and Torque Limit 0 N/A O O O 6.6 

P1-12 ~ 

P1-14 

TQ1 ~ 3 1st ~ 3rd Torque Limit 100 % O O O 6.4.1 

P1-46▲ GR3 Encoder Output Pulse Number 2500 pulse O O O - 

P1-55 MSPD Maximum Speed Limit rated r/min O O O - 

P2-50 DCLR Pulse Deviation Clear Mode 0 N/A O - 

External Pulse Control Command (PT mode) 

P1-00▲ PTT External Pulse Input Type 0x2 N/A O 6.2.1 

P1-44▲ 

GR1 

Electronic Gear Ratio (1st 

Numerator) (N1) 

1 pulse O 6.2.3 

P1-45▲ 

GR2 

Electronic Gear Ratio 

(Denominator) (M) 

1 pulse O 6.2.3 

P2-60▲ 

GR4 

Electronic Gear Ratio (2nd 


1 pulse O - 

P2-61▲ 

GR5 

Electronic Gear Ratio (3rd 


1 pulse O - 

P2-62▲ 

GR6 

Electronic Gear Ratio (4th 


1 pulse O - 


(★) 

(▲) 

(•) 

(•) 




on). 





Speed Control 


Control Mode 

PT S T 

Related 

Section 

P1-01• 

CTL 


Direction 

0 

pulse 

r/min 

N-M 

O O O 6.1 




P1-09 ~ 

P1-11 

P1-12 ~ 

P1-14 

P1-40▲ 

P1-41▲ 

SP1 ~ 3 1st ~ 3rd Speed Command 

1000 

~ 

3000 

0.1 

r/min 

O O 6.3.1 

TQ1 ~ 3 1st ~ 3rd Torque Limit 100 % O O O 6.6.2 

VCM 

TCM 

P1-76 AMSPD 

Max. Analog Speed Command or 

Limit 

Max. Analog Torque Command 

or Limit 

Max. Rotation Speed of Encoder 

Output 

rated r/min O O 6.3.4 

100 % O O O - 

5500 r/min O O O - 


(★) 

(▲) 

(•) 

(•) 




on). 







Control Mode 

PT S T 

Related 

Section 

P1-01• 

CTL 


Direction 

0 

pulse 

r/min 

N-M 

O O O 6.1 




P1-09 

~ 

P1-11 

P1-12 

~ 

P1-14 

P1-40▲ 

P1-41▲ 

SP1~3 

1st ~ 3rd Speed Limit 

1000 

~ 

3000 

r/min O O 6.6.1 

TQ1~3 1st ~ 3rd Torque Command 100 % O O O 6.4.1 

VCM 

TCM 

Max. Analog Speed Command or 

Limit 

Max. Analog Torque Command 

or Limit 

rated r/min O O - 

100 % O O O 6.4.4 


(★) 

(▲) 

(•) 

(•) 




on). 





Digital I/O and Relative Input Output Setting 


Control Mode 

PT S T 

Related 

Section 

P2-09 DRT Bounce Filter 2 2ms O O O - 

P2-10 DI1 Digital Input Terminal 1 (DI1) 101 N/A O O O Table 7.A 








P2-36 DI9 

External Digital Input Terminal 9 

(DI9) 

0 N/A O O O Table 7.A 

P2-18 DO1 Digital Output Terminal 1 (DO1) 101 N/A O O O Table 7.B 






P1-38 ZSPD Zero Speed Range Setting 100 

0.1 

r/min 

O O O Table 7.B 

P1-39 SSPD Target Motor Speed 3000 r/min O O O Table 7.B 

P1-42 MBT1 

P1-43 MBT2 

On Delay Time of 

Electromagnetic Brake 

OFF Delay Time of 

Electromagnetic Brake 

0 ms O O O 6.5.5 

0 ms O O O 6.5.5 

P1-47 SCPD Speed Reached Output Range 10 r/min O Table 7.B 

P1-54 PER Positioning Completed Width 12800 pulse O Table 7.B 

P1-56 OVW Output Overload Warning Time 120 % O O O Table 7.B 


(★) 

(▲) 

(•) 

(•) 




on). 





Communication 


Control Mode 

PT S T 

Related 

Section 

P3-00• ADR Communication Address Setting 0x7F N/A O O O 8.2 

P3-01 BRT Transmission Speed 0x0203 bps O O O 8.2 

P3-02 PTL Communication Protocol 6 N/A O O O 8.2 

P3-03 FLT Transmission Fault Treatment 0 N/A O O O 8.2 

P3-04 CWD 

Communication Time Out 

Detection 

0 sec O O O 8.2 

P3-05 CMM Communication Selection 0 N/A O O O 8.2 

P3-06• 

SDI 

Digital Input Communication 

Function 

0 N/A O O O 8.2 

P3-07 CDT 

Communication Response Delay 

Time 

0 1ms O O O 8.2 

P3-08 MNS Monitor Mode 0000 N/A O O O 8.2 





on). 





Diagnosis 


Control Mode 

PT S T 

Related 

Section 

P4-00★ ASH1 Fault Record (N) 0 N/A O O O 4.4.1 

P4-01★ ASH2 Fault Record (N-1) 0 N/A O O O 4.4.1 




P4-05 JOG JOG Operation 20 r/min O O O 4.4.2 

P4-06▲• FOT Force Output Contact Control 0 N/A O O O 4.4.4 

P4-07 ITST Input Status 0 N/A O O O 

P4-08★ 

PKEY 

Digital Keypad Input of Servo 

Drive 

4.4.5 

8.2 

N/A N/A O O O - 

P4-09★ MOT Output Status N/A N/A O O O 4.4.6 

P4-10▲ CEN Adjustment Function 0 N/A O O O - 

P4-11 SOF1 

P4-12 SOF2 

P4-14 TOF2 

P4-15 COF1 

P4-16 COF2 

P4-17 COF3 

P4-18 COF4 

Analog Speed Input Drift 

Adjustment 1 

Analog Speed Input Drift 

Adjustment 2 

Analog Torque Drift Adjustment 

2 

Current Detector Drift 

Adjustment (V1 phase) 


Adjustment (V2 phase) 


Adjustment (W1 phase) 


Adjustment (W2 phase) 

P4-19 TIGB IGBT NTC Calibration 

P4-20 DOF1 

P4-21 DOF2 

Analog Monitor Output Drift 

Adjustment (MON1) 

Analog Monitor Output Drift 

Adjustment (MON2) 

Factory 

Setting 

Factory 

Setting 

Factory 

Setting 

Factory 

Setting 

Factory 

Setting 

Factory 

Setting 

Factory 

Setting 

Factory 

Setting 

N/A O O O - 

N/A O O O - 

N/A O O O - 

N/A O O O - 

N/A O O O - 

N/A O O O - 

N/A O O O - 

N/A O O O - 

0 mV O O O 6.4.4 

0 mV O O O 6.4.4 

P4-22 SAO Analog Speed Input Offset 0 mV O - 

P4-23 TAO Analog Torque Input Offset 0 mV O - 


(★) 

(▲) 

(•) 

(•) 




on). 





7.3 Detailed Parameter Listings 

Group 0: P0-xx Monitor Parameters 

P0-00★ 


VER Firmware Version 

0001H 

Operation 

Interface: Keypad/Software Communication Related Section: N/A 


Control 

Mode: ALL 

Unit: - 

Range: - 


Display 


Settings: 

This parameter displays the firmware version of the servo drive. 


0003H 

Operation 


P0-01■ ALE Drive Fault Code 

Default: - 

Control 

Mode: ALL 

Unit: - 

Range: 0 ~ 0 (0: clear the fault or restart the servo 

drive, the same function of ARST (DI signal)) 


Display 

Format: BCD 

Settings: 

Section: 11.1 

Section: 11.2 

Section: 11.3 

This parameter shows the current servo drive fault if the servo drive is currently 

faulted. 

The fault code is hexadecimal data but displayed in BCD format (Binary coded 

decimal). 

Servo Drive Fault Codes: 

001: Overcurrent 

002: Overvoltage 

003: Undervoltage (This fault code shows when main circuit voltage is below its 

minimum specified value while Servo On, and it will not show while Servo Off. 

This fault code can’t be cleared automatically after the voltage has returned 

within its specification. Please refer to parameter P2-66.) 

004: Motor error (The drive and motor are not correctly matched for size (power 

rating). 

005: Regeneration error 

006: Overload 

007: Overspeed 




008: Abnormal pulse control command 

009: Excessive deviation 

010: Reserved 

011: Encoder error (The wiring of the encoder is in error and this causes the 

communication error between the servo drive and the encoder.) 

012: Adjustment error 

013: Emergency stop activated 

014: Reverse limit switch error 

015: Forward limit switch error 

016: IGBT temperature error 

017: Memory error 

018: Encoder output error 

019: Serial communication error 

020: Serial communication time out 

021: Reserved 

022: Input power phase loss 

023: Pre-overload warning 

024: Encoder initial magnetic field error 

025: Encoder internal error 

026: Encoder data error 

027: Motor internal error 



030: Motor protection error 

030: Motor protection error 

031: U,V,W, GND wiring error 

035: Motor temperature error 

048: Excessive encoder output error 

067: Motor temperature warning 

099: DSP firmware upgrade 


P0-02 STS Drive Status (Front Panel Display) 

0005H 

Operation 


Section 7.2 

Default: 00 

Control 

Mode: ALL 

Unit: - 

Range: 0 ~ 18 


Display 





Settings: 

This parameter shows the servo drive status. 

00: Motor feedback pulse number (after electronic gear ratio is set) [user unit] 

01: Input pulse number of pulse command (after electronic gear ratio is set) [user 

unit] 

02: Position error counts between control command pulse and feedback pulse 

[user unit] 

03: Motor feedback pulse number (encoder unit, 160000 pulse/rev) [pulse] 

04: Input pulse number of pulse command (before electronic gear ratio is set) 

[pulse] 

05: Position error counts [pulse] 

06: Input frequency of pulse command [Kpps] 

07: Motor rotation speed [r/min] 

08: Speed input command [Volt] 

09: Speed input command [r/min] 

10: Torque input command [Volt] 

11: Torque input command [%] 

12: Average load [%] 

13: Peak load [%] 

14: Main circuit voltage [Volt] 

15: Ratio of load inertia to Motor inertia [0.1times] 

16: IGBT temperature 

17: Resonance frequency [Hz] 

18: Absolute pulse number relative to encoder (use Z phase as home). The value of 

Z phase home point is 0, and it can be the value from -5000 to +5000 pulses. 

0 0 

0 

+5000 -4999 +5000 -4999 

Z 

Z 

Z 

The interval of two Z phase pulse command is 10000 pulse. 


P0-03 MON Analog Monitor Output 

0007H 

Operation 


Section 6.6.3 

Default: 00 

Control 

Mode: ALL 

Unit: - 

Range: 00 ~ 77 


Display 





Settings: 

This parameter determines the functions of the analog monitor outputs. 

MON2 

MON1 

Not used 

MON1, MON2 Settings: 

0: Motor speed (+/-8V / maximum motor speed) 

1: Motor torque (+/-8V / maximum torque) 

2: Pulse command frequency (+8Volts / 4.5Mpps) 

3: Speed command (+/-8Volts / maximum speed command) 

4: Torque command (+/-8Volts / maximum torque command) 

5: V_BUS voltage (+/-8Volts / 450V) 

6: Reserved 

7: Reserved 

Please note: For the setting of analog output voltage proportion, refer to the P1-04 

and P1-05. 

Example: P0-03 = 01 (MON1 is motor speed analog output, MON2 is motor torque 

analog output) 

Motor speed 



P1-04 

) 

100 

(unit: Volts) 


Motor toque 


P1-05 

) 

100 

(unit: Volts) 

P0-04■ 

P0-05■ 

Reserved (Do Not Use) 

Reserved (Do Not Use) 


0009H 


000BH 

P0-06■ Reserved (Do Not Use) 

P0-07■ Reserved (Do Not Use) 


000DH 


000FH 




P0-08★ 


TSON Servo Startup Time 

0011H 

Operation 


Default: 0 

Control 

Mode: - 

Unit: Hour 

Range: High Word: 0 ~ 65535 

Low Word: 0 ~ 65535 


Display 


Settings: 

High Word: Servo enable time 

Low Word: Servo power on time 

P0-09★ 


CM1 Status Monitor 1 

0013H 

Operation 


Section 4.3.5 

Default: - 

Control 

Mode: ALL 

Unit: - 

Range: - 


Display 


Settings: 

This parameter is used to provide the value of one of the status monitoring 

functions found in P0-02. The value of P0-09 is determined by P0-17 (desired drive 

status) through communication setting or the keypad. The drive status can be read 

from the communication address of this parameter via communication port. 

For example: 

Set P0-17 to 3, then all consequent reads of P0-09 will return the motor feedback 

pulse number in pulse. 

When reading the drive status through Modbus communication, the system should 

read two 16-bit data stored in the addresses of 0012H and 0013H to form a 32-bit 

data. 

(0013H : 0012H) = (High Word : Low Word) 

When reading the drive ststus through the keypad, if P0-02 is set to 23, VAR-1 will 

quickly show for about two seconds and then the value of P0-09 will display on the 

display. 




P0-10★ 



0015H 

Operation 


Default: - 

Control 

Mode: ALL 

Unit: - 

Range: - 


Display 


Settings: 

Section 4.3.5 





When reading the drive status through the keypad, if P0-02 is set to 24, VAR-2 will 


display. 


P0-11★ CM3 Status Monitor 3 

0017H 

Operation 


Section 4.3.5 

Default: - 

Control 

Mode: ALL 

Unit: - 

Range: - 


Display 


Settings: 







display. 




P0-12★ 



0019H 

Operation 


Default: - 

Control 

Mode: ALL 

Unit: - 

Range: - 


Display 


Settings: 

Section 4.3.5 







display. 


P0-13★ CM5 Status Monitor 5 

001BH 

Operation 


Section 4.3.5 

Default: - 

Control 

Mode: ALL 

Unit: - 

Range: - 


Display 


Settings: 





P0-14 Reserved (Do Not Use) 




001DH 


001FH 


0021H 





P0-17 CM1A Status Monitor Selection 1 

0023H 

Operation 


Default: 0 

Control 

Mode: - 

Unit: - 

Range: 0 ~ 18 


Display 


Settings: 

This parameter is used to determine the drive status found in P0-02. The selected 

drive status will be displayed by P0-09. 

For example: 

Set P0-17 to 7, then all consequent reads of P0-09 will return the motor rotation 

speed in r/min. 



0025H 

Operation 


Default: 0 

Control 

Mode: - 

Unit: - 

Range: 0 ~ 18 


Display 


Settings: 

This parameter is used to determine the drive status found in P0-02. 



0027H 

Operation 


Default: 0 

Control 

Mode: - 

Unit: - 

Range: 0 ~ 18 


Display 


Settings: 







0027H 

Operation 


Default: 0 

Control 

Mode: - 

Unit: - 

Range: 0 ~ 18 


Display 


Settings: 




0029H 

Operation 


Default: 0 

Control 

Mode: - 

Unit: - 

Range: 0 ~ 18 


Display 


Settings: 




002BH 

Operation 


Default: 0 

Control 

Mode: - 

Unit: - 

Range: 0 ~ 18 


Display 


Settings: 









002DH 


002FH 


0031H 

P0-44★ 

P0-45■ 


PCMN Status Monitor Register (PC Software Setting) 

0059H 

Operation 


Section 4.3.5 

Default: 0x0 

Control 

Mode: ALL 

Unit: - 

Range: determined by the communication address 

of the designated parameter 


Display 


Settings: 

The function of this parameter is the same as P0-09 (Please refer to P0-09). Please 

note that this pamameter can be set through communication setting only. 

PCMNA 

Status Monitor Register Selection (PC 

Software Setting) 


005BH 

Operation 


Section 4.3.5 

Default: 0x0 

Control 

Mode: ALL 

Unit: - 

Range: 0~127 


Display 


Settings: 

The function of this parameter is the same as P0-17 (Please refer to P0-17). Please 

note that this pamameter can be set through communication setting only. 




P0-46★ 


SVSTS Servo Output Status Display 

005DH 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: - 

Range: 0x00 ~ 0xFF 


Display 


Settings: 

This parameter is used to display the digital output signal of the servo drive. The 

servo output status display will show in hexadecimal format. 

Bit0: SRDY (Servo ready) 

Bit1: SON (Servo On) 

Bit2: ZSPD (At Zero speed) 

Bit3: TSPD (At Speed reached) 

Bit4: TPOS (At Positioning completed) 

Bit5: TQL (At Torque limit) 

Bit6: ALRM (Servo alarm activated) 

Bit7: BRKR (Electromagnetic brake control) 

Bit9: OLW (Output overload warning) 

Bit10: WARN (Servo warning activated. WARN is activated when the drive has 

detected reverse limit error; forward limit error, emergency stop, serial 

communication error, and undervoltage these fault conditions.) 

Bit11: Reserved 





The servo output status display can be monitored through communication also. 




Group 1: P1-xx Basic Parameters 


P1-00▲ PTT External Pulse Input Type 

0101H 

Operation 


Default: 0x2 

Control 

Mode: PT 

Unit: - 

Range: 0 ~ 1132 


Display 


Settings: 

Section 6.2.1 

A: Input pulse type 

0: AB phase pulse (4x) (Quadrature Input) 

1: Clockwise (CW) + Counterclockwise(CCW) pulse 

2: Pulse + Direction 

3: Other settings: 

B: Input pulse filter 

This setting is used to suppress or reduce the chatter caused by the noise, etc. 

However, if the instant input pulse filter frequency is over high, the frequency that 

exceeds the setting value will be regarded as noise and filtered. 

Setting 

Value 

Low-speed Filter Frequency Setting 

(Min. Filter Frequency (see note 1) ) Value 

High-speed Filter Frequency 


0 0.83Mpps (600ns) 0 3.33Mpps (150ns) 

1 208Kpps (2.4us) 1 0.83Mpps (600ns) 

2 104Kpps (4.8us) 2 416Kpps (1.2us) 

3 52Kpps (9.6us) 3 208Kpps (2.4us) 

4 No Filter Function 4 No Filter Function 




Pleae note: 

1. 

150 ns 

When this pulse frequency is less than 

150 ns, this signal will be regarded as a 

high-level pulse and two input pulses will 

be regarded as one input pulse. 

When the pulse frequencies of high-level duty 

and low-level duty both are greater than 150 ns, 

the signal will not be filtered (that is, the pulse 

command will pass through). 

If an input pulse of 2~4MHz is used, it is recommended to change the setting value B (Input 

pulse filter) and set this setting value to 4. Please note that this function is available for DSP 

version V1.036 sub05, CPLD version V10 and later models only. 

Note: If the signal is a 4Mpps high input pulse, setting the value B to 4 is able to ensure that 

the signal will not be filtered and will be certainly delivered. 




C: Input polarity 

Logic 

Pulse 

Type 

Forward 

Reverse 

AB phase 

Pulse 

TH 

Pulse 

TH 

pulse 

Sign 

T1 T1 T1 T1 T1 T1 

Sign 

T1 T1 T1 T1 T1 

0 Positive 

Logic 

CW + 

CCW 

pulse 

Pulse 

Sign 

T2 

TH 

T3 

T2 T2 T2 T2 T2 

TH 

Pulse + 

Direction 

Pulse 

Sign 

T4 

T5 T6 T5 T6 T5 

T4 

TH 

Pulse 

Sign 

T4 

T5 T6 T5 T6 T5 

T4 

TH 

AB phase 

Pulse 

TH 

Pulse 

TH 

pulse 

Sign 

T1 T1 T1 T1 T1 T1 

Sign 

T1 T1 T1 T1 

1 Negative 

Logic 

CW + 

CCW 

pulse 

Pulse 

Sign 

T2 T2 T2 T3 T2 T2 T2 TH 

Pulse + 

Direction 

Pulse 

Sign 

T4 

T5 T6 T5 T6 T5 

T4 

TH 

Pulse 

Sign 

T4 T5 T6 T5 T6 T5 T4 

TH 


High-speed 

pulse 

Low-speed 

pulse 

Line 

driver 

Line 

driver 

Open 

collector 

Max. 

input 

pulse 

frequency 

4Mpps 

Min. time width 

T1 T2 T3 T4 T5 T6 

62.5ns 125ns 250ns 200ns 125ns 125ns 

500Kpps 0.5μs 1μs 2μs 2μs 1μs 1μs 

200Kpps 1.25μs 2.5μs 5μs 5μs 2.5μs 2.5μs 


Max. input pulse 

frequency 

Voltage 

specification 

Forward 

specification 

High-speed pulse Line driver 4Mpps 5V < 25mA 

Low-speed pulse 

Line driver 500Kpps 2.8V ~ 3.7V < 25mA 

Open collector 200Kpps 24V (Max.) < 25mA 




D: Source of pulse command 

Setting value Input pulse interface Remark 

0 Open collector for low-speed pulse 

1 Line driver for high-speed pulse 


PULSE, SIGN 


PULSE_D, SIGN_D 

P1-01● CTL Control Mode and Output Direction 


0103H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: pulse (P mode), r/min (S mode), 

N-m (T mode) 

Range: 00 ~ 110 


Display 


Settings: 

Section 6.1, 

Table 7.A 

A: Control mode settings 

Mode PT S T Sz Tz 

Single Mode 

00 ▲ 

01 Reserved 

02 ▲ 

03 ▲ 

04 ▲ 

05 ▲ 

Multiple Mode 

06 ▲ ▲ 

07 ▲ ▲ 

08 Reserved 

09 Reserved 

0A ▲ ▲ 




Single Mode: 

PT: Position control mode. The command is from external pulse or analog voltage 

(external analog voltage will be available soon). Execution of the command 

selection is via DI signal, PTAS.S: Speed control mode. The command is from 

external signal or internal signal. Execution of the command selection is via DI 

signals, SPD0 and SPD1. 

T: Torque control mode. The command is from external signal or internal signal. 

Execution of the command selection is via DI signals, TCM0 and TCM1. 

Sz: Zero speed / internal speed command 

Tz: Zero torque / internal torque commandMultiple Mode: Control of the mode 

selection is via DI signals. For example, either PT or S control mode can be 

selected via DI signals, S-P (see Table 7.A). 

B: Torque output direction settings 

Direction 0 1 

Forward 

Reverse 

P1-02▲ PSTL Speed and Torque Limit 


0105H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: - 

Range: 00 ~ 11 


Display 


Settings: 

Section 6.6, 

Table 7.A 

A: Disable or Enable speed limit function 

0: Disable speed limit function 

1: Enable speed limit function (It is available in torque mode) 




B: Disable or Enable torque limit function 

0: Disable torque limit function 

1: Enable torque limit function (It is available in position and speed mode) 

This parameter is used to determine that the speed and torque limit functions are 

enabled or disabled. If P1-02 is set to 11, it indicates that the speed and torque 

limit functions are enabled always. The users can also use DI signals, SPDLM and 

TRQLM to enable the speed and torque limit functions. Please note that DI signals, 

SPD0, SPD1, TCM0, and TCM1 are used to select the command source of the speed 

and torque limit. 


P1-03 AOUT Pulse Output Polarity Setting 

0107H 

Operation 


Section 3.3.3 

Default: 0 

Control 

Mode: ALL 

Unit: - 

Range: 0 ~ 13 


Display 


Settings: 

A: Analog monitor outputs polarity 

0: MON1(+), MON2(+) 

1: MON1(+), MON2(-) 

2: MON1(-), MON2(+) 

3: MON1(-), MON2(-) 

B: Position pulse outputs polarity 

0: Forward output 

1: Reverse output 






0109H 

Operation 


Default: 100 

Control 

Mode: ALL 


Range: 0 ~ 100 


Display 


Settings: 

Please note: 

Section 6.4.4 





Motor speed 


P1-04 ) 

100 

(unit: Volts) 


Motor toque 


P1-05 ) 

100 

(unit: Volts) 



010BH 

Operation 


Section 6.4.4 

Default: 100 

Control 

Mode: ALL 


Range: 0 ~ 100 


Display 


Settings: 

Please note: 





Motor speed 


P1-04 ) 

100 

(unit: Volts) 





Motor toque 


P1-05 ) 

100 

(unit: Volts) 

P1-06 SFLT 

P1-07 TFLT 

P1-08 PFLT 

Accel / Decel Smooth Constant of Analog 

Speed Command (Low-pass Filter) 


010DH 

Operation 


Section 6.3.3 

Default: 0 

Control 

Mode: S 

Unit: ms 



Display 



Smooth Constant of Analog Torque 



010FH 

Operation 


Section 6.4.3 

Default: 0 

Control 

Mode: T 

Unit: ms 



Display 



Smooth Constant of Position Command 



0111H 

Operation 


Section 6.2.4 

Default: 0 

Control 

Mode: PT 

Unit: 10ms 

Range: 0 ~ 1000 


Display 



For example: 11=110 msec 





P1-09 SP1 1st Speed Command or Limit 

0113H 

Operation 


Default: 1000 

Control 

Mode: S, T 

Unit: 0.1r/min 

Range: -50000 ~ +50000 


Display 


Settings: 

Section 6.3.1 

For example: 120=12 r/min 

1st Speed Command 

In Speed mode, this parameter is used to set speed 1 of internal speed command. 

1st Speed Limit 

In Torque mode, this parameter is used to set speed limit 1 of internal speed 

command. 


P1-10 SP2 2nd Speed Command or Limit 

0115H 

Operation 


Section 6.3.1 

Default: 2000 

Control 

Mode: S, T 


Range: -50000 ~ +50000 


Display 


Settings: 


2nd Speed Command 


2nd Speed Limit 


command. 





P1-11 SP3 3rd Speed Command or Limit 

0117H 

Operation 


Default: 3000 

Control 

Mode: S, T 


Range: -50000 ~ +50000 


Display 


Settings: 

Section 6.3.1 


3rd Speed Command 


3rd Speed Limit 


command. 


P1-12 TQ1 1st Torque Command or Limit 

0119H 

Operation 


Section 6.4.1 

Default: 100 

Control 

T, P&S 

Mode: 

Unit: % 

Range: -300 ~ +300 


Display 


Settings: 

1st Torque Command 

In Torque mode, this parameter is used to set torque 1 of internal torque 

command. 

1st Torque Limit 

In Position and Speed mode, this parameter is used to set torque limit 1 of internal 

torque command. 





P1-13 TQ2 2nd Torque Command or Limit 

011BH 

Operation 


Section 6.4.1 

Default: 100 

Control 

T, P&S 

Mode: 

Unit: % 

Range: -300 ~ +300 


Display 


Settings: 

2nd Torque Command 


command. 

2nd Torque Limit 




P1-14 TQ3 3rd Torque Command or Limit 

011DH 

Operation 


Section 6.4.1 

Default: 100 

Control 

T, P&S 

Mode: 

Unit: % 

Range: -300 ~ +300 


Display 


Settings: 

3rd Speed Command 


command. 

3rd Speed Limit 







011FH 


0121H 


0123H 












0125H 


0127H 


0129H 


012BH 


012DH 


012FH 


013FH 


P1-32 LSTP Motor Stop Mode Selection 

0141H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: - 

Range: 0 ~ 20 


Display 


Settings: 

A: Fault Stop Mode 

When a fault occurs (except for CWL, CCWL, EMGS and serial communication 

error), it is used to set servo motor stop mode. 

0: Stop instantly 

1: Decelerate to stop 

B: Dynamic Brake Option 

When Servo Off or a fault (servo alarm) occurs, it is used to set servo motor stop 

mode. 

0: Use dynamic brake 

1: Allow servo motor to coast to stop 




2: Use dynamic brake first, after the motor speed is below than P1-38, allow servo 

motor to coast to stop 

When the fault NL(CWL) or PL(CCWL) occurs, please refer to the settings of 

parameter P1-06, P1-35, P1-36 to determine the deceleration time. If the 

deceleration time is set to 1ms, the motor will stop instantly. 



0143H 


P1-34 TACC Acceleration Time 

0145H 

Operation 


Section 6.3.3 

Default: 200 

Control 

Mode: S 

Unit: ms 

Range: 1 ~ 20000 


Display 


Settings: 




Please note: 

1. When the source of speed command is analog command, the maximum setting 

value of P1-36 is set to 0, the acceleration and deceleration function will be 

disabled. 


P1-35 TDEC Deceleration Time 

0147H 

Operation 


Section 6.3.3 

Default: 200 

Control 

Mode: S 

Unit: ms 

Range: 1 ~ 20000 


Display 


Settings: 




Please note: 



disabled. 





P1-36 TSL Accel /Decel S-curve 

0149H 

Operation 


Default: 0 

Control 

Mode: S 

Unit: ms 



Display 


Settings: 

Section 6.3.3 

This parameter is used to make the motor run more smoothly when startup and 

windup. Using this parameter can improve the motor running stability. 

TACC: P1-34, Acceleration time 

TDEC: P1-35, Deceleration time 

TSL: P1-36, Accel /Decel S-curve 

Total acceleration time = TACC + TSL 

Total deceleration time = TDEC + TSL 

The functions of parameters P1-34, P1-35 and P1-36 are each individual. When 

P1-36 is set to 0 (Disabled), the settings of P1-34, P1-35 are still effective. It 

indicates that the parameters P1-34 and P1-35 will not become disabled even 

when P1-36 is disabled. 

Please note: 



disabled. 

P1-37 GDR Ratio of Load Inertia to Servo Motor Inertia 


014BH 

Operation 


Default: 1.0 10 

Control 

Mode: ALL 

Unit: 1 times 

0.1 times 

Range: 0.0 ~ 200.0 0 ~ 2000 


Display 


Decimal 

Input Value 

1.5 = 1.5 times 

Example: 

15 = 1.5 times 




Settings: 

Ratio of load inertia to servo motor inertia (for Rotation Motor): (J_load 

/J_motor) 

J_load: Total equivalent moment of inertia of external mechanical load 

J_motor: Moment of inertia of servo motor 

P1-38 ZSPD Zero Speed Range Setting 


014DH 

Operation 


Table 7.B 

Default: 10.0 100 

Control 

Mode: ALL 

Unit: 1 r/min 

0.1 r/min 

Range: 0.0 ~ 200.0 0 ~ 2000 


Display 


Decimal 

Input Value 

1.5 = 1.5 r/min 

Example: 

Settings: 

15 = 1.5 r/min 

This parameter is used to set output range of zero speed signal (ZSPD) and 

determine when zero speed signal (ZSPD) becomes activated. ZSPD is activated 

when the drive senses the motor is equal to or below the Zero Speed Range setting 

as defined in parameter P1-38. 

For Example, at default ZSPD will be activated when the drive detects the motor 

rotating at speed at or below 100 r/min. ZSPD will remain activated until the motor 

speed increases above 100 r/min. 


P1-39 SSPD Target Motor Speed 

014FH 

Operation 


Table 7.B 

Default: 3000 

Control 

Mode: ALL 

Unit: r/min 

Range: 0 ~ 5000 


Display 


Settings: 

When target motor speed reaches its preset value, digital output (TSPD) is enabled. 

When the forward and reverse speed of servo motor is equal and higher than the 

setting value, the motor will reach the target motor speed, and then TSPD signal 

will output. 

TSPD is activated once the drive has detected the motor has reached the Target 

Motor Speed setting as defined in parameter P1-39. TSPD will remain activated 

until the motor speed drops below the Target Motor Speed. 





P1-40▲ VCM Max. Analog Speed Command or Limit 

0151H 

Operation 



Control 

Mode: S, T 

Unit: r/min 

Range: 0 ~ 10000 


Display 


Settings: 

Section 6.3.4 

In Speed mode, this parameter is used to set the maximum analog speed 


In Torque mode, this parameter is used to set the maximum analog speed limit 

based on the maximum input voltage (10V). 

For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it 

indicates that the speed command is 3000 r/min. If P1-40 is set to 3000, but the 

input voltage is changed to 5V, then the speed command is changed to 1500 

r/min. 

Speed Command / Limit = Input Voltage Value x Setting value of P1-40 / 10 


P1-41▲ TCM Max. Analog Torque Command or Limit 

0153H 

Operation 


Section 6.4.4 

Default: 100 

Control 

Mode: ALL 

Unit: % 

Range: 0 ~ 1000 


Display 


Settings: 

In Torque mode, this parameter is used to set the maximum analog torque 


In PT and Speed mode, this parameter is used to set the maximum analog torque 

limit based on the maximum input voltage (10V). 

For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it 

indicates that the torque command is 100% rated torque. If P1-41 is set to 100, but 

the input voltage is changed to 5V, then the torque command is changed to 50% 

rated torque. 

Torque Command / Limit = Input Voltage Value x Setting value of P1-41 / 10 





P1-42 MBT1 On Delay Time of Electromagnetic Brake 

0155H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: ms 

Range: 0 ~ 1000 


Display 


Settings: 

Section 6.5.5 

Used to set the period of time between when the servo drive is On (Servo On) and 

when electromagnetic brake output signal (BRKR) is activated. 


P1-43 MBT2 OFF Delay Time of Electromagnetic Brake 

0157H 

Operation 


Section 6.5.5 

Default: 0 

Control 

Mode: ALL 

Unit: ms 

Range: -1000 ~ +1000 


Display 


Settings: 

Used to set the period of time between when the servo drive is Off (Servo Off) and 

when electromagnetic brake output signal (BRKR) is inactivated. 

Please note: 

1. When servo is commanded off and the off delay time set by P1-43 has not 

elapsed, if the motor speed is lower than the setting value of P1-38, the 

electromagnetic brake will be engaged regardless of the off delay time set by 

P1-43. 

2. When servo is commanded off and the off delay time set by P1-43 has elapsed, 

if the motor speed is higher than the setting value of P1-38, electromagnetic 

brake will be engaged regardless of the current motor speed. 

3. When the servo drive is disabled (Servo Off) due to a fault (except AL022) or by 

EMGS (Emergency stop)) being activated, if the off delay time set by P1-43 is a 

negative value, it will not affect the operation of the motor. A negative value of 

the off delay time is equivalent to one with a zero value. 




P1-44▲ 


GR1 Electronic Gear Ratio (1st Numerator) (N1) 

0159H 

Operation 


Default: 16 

Control 

Mode: PT 

Unit: pulse 

Range: 1 ~ (2 26 -1) 


Display 


Settings: 

Section 6.2.3 

This parameter is used to set the numerator of the electronic gear ratio. The 

denominator of the electronic gear ratio is set by P1-45. P2-60 ~ P2-62 are used to 

set the additional numerators. 

Please note: 

1. In PT mode, the setting value of P1-44 can be changed only when the servo 

drive is enabled (Servo On). 


P1-45▲ GR2 Electronic Gear Ratio (Denominator) (M) 

015BH 

Operation 


Section 6.2.3 

Default: 10 

Control 

Mode: PT 

Unit: pulse 

Range: 1 ~ (2 31 -1) 


Display 


Settings: 

This parameter is used to set the denominator of the electronic gear ratio. The 

numerator of the electronic gear ratio is set by P1-44. P2-60 ~ P2-62 are used to 

set the additional numberators. 

As the wrong setting may cause motor to run chaotically (out of control) and it may 

lead to personnel injury, therefore, ensure to observe the following rule when 

setting P1-44, P1-45. 

The electronic gear ratio setting (Please also see P1-44, P2-60 ~ P2-62): 

Position f1: Pulse input f2: Position command 

Pulse input N command 

M 

f1 

f2 = f1 x N N: Numerator, the setting value of P1-44 or 

M P2-60 ~ P2-62 

M: Denominator, the setting value of P1-45 

The electronic gear ratio setting range must be within: 1/50



P1-46▲ 


GR3 Encoder Output Pulse Number 

015DH 

Operation 


Default: 2500 

Control 

Mode: ALL 

Unit: pulse 

Range: 4 ~ 40000 


Display 


Settings: 

This parameter is used to set the pulse numbers of encoder outputs per motor 

revolution. 

Please note: When the following conditions occur, the output frequency for pulse 

output may exceed the specification and cause that the servo drive fault AL018 

(Encoder Output Error) is activated. 

Condition 1: Encoder error. 

Condition 2: Motor speed is above the value set by parameter P1-76. 


P1-47 SPOK Speed Reached Output Range 

015FH 

Operation 


Default: 10 

Control 

S, Sz 

Mode: 

Unit: r/min 

Range: 0 ~ 300 


Display 


Settings: 

This parameter is used to set the speed reached output range. The DO signal, 

SP_OK (0x19) will be activated when the speed error is equal and below the setting 

value of P1-47. 




1. Speed Command: It is the speed command input by the users (no Accel/Decel), 

not the frond-end command of speed control loop. The source of this command 

includes analog voltage and registers. 

2. Feedback Speed: It is the actual motor speed which is filtered. 

3. Get Absolute Value 

4. Judge if the speed error is equal and below the setting value of P1-47: When 

P1-47 is set to 0, this digital output will be always off. 

5. ON or OFF: When the speed error is equal and below the setting value of P1-47, 

SP_OK will be ON; otherwise, SP_OK will be OFF. 






0161H 


0163H 


0165H 


0167H 


P1-52 RES1 Regenerative Resistor Value 

0169H 

Operation 


Default: See the table below 

Control 

Mode: ALL 

Unit: Ohm 

Range: 10 ~ 750 


Display 


Settings: 

Section 6.6.3 

This parameter is used to set the resistance of the applicable regenerative resistor. 

Model 

For 750W models 

For 1kW to 3kW models 

Default 

100Ω 

40Ω 





P1-53 RES2 Regenerative Resistor Capacity 

016BH 

Operation 


Default: See the table below 

Control 

Mode: ALL 

Unit: Watt 

Range: 30 ~ 3000 


Display 


Settings: 

Section 6.6.3 

This parameter is used to set the capacity of the applicable regenerative resistor. 

Model 

For 750W models 

For 1kW to 3kW models 

Default 

60W 

60W 


P1-54 PER Positioning Completed Width 

016DH 

Operation 


Default: 1600 

Control 

Mode: PT 

Unit: pulse 

Range: 0 ~ 1280000 


Display 


Settings: 

Table 7.B 

In PT mode, when the error pulse numbers is less than the setting value of 

parameter P1-54, TPOS (At positioning completed signal) will be activated. 


P1-55 MSPD Maximum Speed Limit 

016FH 

Operation 



Control 

Mode: ALL 

Unit: r/min 

Range: 0 ~ Max. speed 


Display 


Settings: 

This parameter is used to set maximum motor speed. The default setting is rated 

speed. 





P1-56 OVW Output Overload Warning Time 

0171H 

Operation 


Default: 120 

Control 

Mode: ALL 

Unit: % 

Range: 0 ~ 120 


Display 


Settings: 

This parameter is used to set output overload time. If the setting value of 

parameter P1-56 is set to 0 ~ 100, the function of parameter P1-56 is enabled. 

When the motor has reached the output overload time set by parameter P1-56, the 

motor will send a warning to the drive. After the drive has detected the warning, 

the DO signal OLW will be activated. If the setting value of parameter P1-56 

exceeds 100, the function of parameter P1-56 is disabled. 

tOL = Permissible Time for Overload x the setting value of parameter P1-56 

When overload accumulated time (continuously overload time) exceeds the value 

of tOL, the overload warning signal will output, i.e. DO signal, OLW will be ON. 

However, if the accumulated overload time (continuous overload time) exceeds the 

permissible time for overload, the overload alarm (AL006) will occur. 

For example: 

If the setting value of parameter P1-56 (Output Overload Warning Time) is 60%, 

when the permissible time for overload exceeds 8 seconds at 200% rated output, 

the overload fault (AL006) will be detected and shown on the LED display. 

At this time, tOL = 8 x 60% = 4.8 seconds 

Result: 

When the drive output is at 200% rated output and the drive is continuously 

overloaded for 4.8 seconds, the overload warning signal will be ON, i.e. DO 

signal OLW will be activated. If the drive is continuously overloaded for 8 seconds, 

the overload alarm will be detected and shown on the LED display (AL006). Then, 

Servo Fault signal will be ON (DO signal ALRM will be activated). 


P1-57 CRSHA Motor Protection Percentage 

0173H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: % 

Range: 0 ~ 300 


Display 





Settings: 

This parameter is used to protect the motor in case the motor touchs the 

mechanical equipment. If P1-57 is set to 0, the function of P1-57 is disabled. 

The function of P1-57 is enabled when the setting value of P1-57 is set to 1 or 

more. The fault AL030 will be activated when the setting value of P1-57 is reached 

after a period of time set by P1-58. 


P1-58 CRSHT Motor Protection Time 

0175H 

Operation 


Default: 1 

Control 

Mode: ALL 

Unit: ms 

Range: 0 ~ 1000 


Display 


Settings: 

This parameter is used to protect the motor in case the motor touchs the 

mechanical equipment. The fault AL030 will be activated when the setting value 

of P1-57 is reached after a period of time set by P1-58. 

Please note that this function is applicable for non-contact applications, such as 

electric discharge machines only (P1-37 must be set correctly). 


P1-59 MFLT Analog Speed Linear Filter (Moving Filter) 

0177H 

Operation 



Control 

Mode: S 

Unit: 1 ms 

0.1 ms 

Range: 0.0 ~ 4.0 

(0: Disabled) 


Display 


Input Value 

1.5 = 1.5 ms 

Example: 

Settings: 

0 ~ 40 

(0: Disabled) 

Decimal 

15 = 1.5 ms 

This parameter is used to eliminate the noise generated during the operation 

when the host (external) controller sends the step analog voltage speed command. 

The parameter P1-06 is Low-pass Filter and parameter P1-59 is Moving Filter. The 

differences are that Low-pass Filter is usually used to smooth the end of the 

command but Moving Filter can be used to smooth the start and the end of step 

analog voltage speed command. Using Moving Filter can facilitate the smooth 

operation of the motor very effectively. 




Therefore, it is recommended to use P1-06 Low-pass Filter when the speed 

command from the external controller is applied for position control loop. If the 

command is for speed control only, using Moving Filter P1-59 can achieve better 

(smooth) performance. 




0179H 


017BH 


P1-62 FRCL Friction Compensation Percentage 

017DH 

Operation 


Default: 0 

Control 

Mode: PT, S 

Unit: % 

Range: 0 ~ 100 


Display 


Settings: 

This parameter is used to set the torque percentage for friction compensation. If 

P1-62 is set to 0, the function of P1-62 is disabled. The function of P1-62 is 

enabled when the setting value of P1-62 is set to 1 or more. 


P1-63 FRCT Friction Compensation Percentage 

017FH 

Operation 


Default: 0 

Control 

Mode: PT, S 

Unit: ms 

Range: 0 ~ 1000 


Display 





Settings: 

This parameter is used to set the smooth constant of friction compensation. 






0181H 


0183H 


0185H 


0187H 


P1-68 PFLT2 Position Command Moving Filter 1 

0189H 

Operation 


Default: 4 

Control 

Mode: PT 

Unit: ms 



Display 


Settings: 

Moving Filter can be used to smooth the start and the end of step position 

command. Using Moving Filter can facilitate the smooth operation of the motor 

very effectively, but it will cause command delay. 












018BH 


018DH 


018FH 


0191H 


0193H 


0195H 


0197H 


P1-76 AMSPD Max. Rotation Speed of Encoder Output 

0199H 

Operation 

Interface: Keypad/Software Communication Related Section: P1-46 

Default: 5500 

Control 

Mode: ALL 

Unit: r/min 



Display 


Settings: 

This parameter is used to optimize the encoder outputs (OA, OB). When the users 

set the actual reached maximum motor speed, the servo drive will equalize the 

encoder outputs automatically. When P1-76 is set to 0, it indicates that equalizing 

function is not available. 


P1-77 PFLT3 Position Command Moving Filter 2 

019BH 

Operation 


Default: 4 

Control 

Mode: PT 

Unit: ms 



Display 


Settings: 

Moving Filter can be used to smooth the start and the end of step position 

command. Using Moving Filter can facilitate the smooth operation of the motor 




very effectively, but it will cause command delay. 




Group 2: P2-xx Extension Parameters 


P2-00 KPP Proportional Position Loop Gain 

0201H 

Operation 


Default: 35 

Control 

Mode: PT 

Unit: rad/s 

Range: 0 ~ 2047 


Display 


Settings: 

Section 6.2.5 

This parameter is used to set the position loop gain. It can increase stiffness, 

expedite position loop response and reduce position error. However, if the setting 

value is over high, it may generate vibration or noise. 


P2-01 PPR Position Loop Gain Switching Rate 

0203H 

Operation 


Section 6.2.5 

Default: 100 

Control 

Mode: PT 

Unit: % 

Range: 10 ~ 500 


Display 


Settings: 

This parameter is used to set the position gain switching rate when the gain 

switching condition is satisfied. Please refer to P2-27 for gain switching control 

selection settings and refer to P2-29 for gain switching condition settings. 


P2-02 PFG Position Feed Forward Gain 

0205H 

Operation 


Section 6.2.5 

Default: 50 

Control 

Mode: PT 

Unit: % 

Range: 0 ~ 100 


Display 


Settings: 

This parameter is used to set the feed forward gain when executing position 

control command. When using position smooth command, increase gain can 




P2-03 PFF 

improve position track deviation. When not using position smooth command, 

decrease gain can improve the resonance condition of mechanical system. 

Smooth Constant of Position Feed Forward 

Gain 


0207H 

Operation 


Default: 5 

Control 

Mode: PT 

Unit: ms 

Range: 2 ~ 100 


Display 


Settings: 

When using position smooth command, increase gain can improve position track 

deviation. When not using position smooth command, decrease gain can improve 

the resonance condition of mechanical system. 


P2-04 KVP Proportional Speed Loop Gain 

0209H 

Operation 


Section 6.3.6 

Default: 500 

Control 

Mode: ALL 

Unit: rad/s 

Range: 0 ~ 8191 


Display 


Settings: 

This parameter is used to set the speed loop gain. When the value of proportional 

speed loop gain is increased, it can expedite speed loop response. However, if the 

setting value is over high, it may generate vibration or noise. 


P2-05 SPR Speed Loop Gain Switching Rate 

020BH 

Operation 


Default: 100 

Control 

Mode: ALL 

Unit: % 

Range: 10 ~ 500 


Display 





Settings: 

This parameter is used to set the speed gain switching rate when the gain 

switching condition is satisfied. Please refer to P2-27 for gain switching control 

selection settings and refer to P2-29 for gain switching condition settings. 


P2-06 KVI Speed Integral Compensation 

020DH 

Operation 


Section 6.3.6 

Default: 100 

Control 

Mode: ALL 

Unit: rad/s 

Range: 0 ~ 1023 


Display 


Settings: 

This parameter is used to set the integral time of speed loop. When the value of 

speed integral compensation is increased, it can improve the speed response 

ability and decrease the speed control deviation. However, if the setting value is 

over high, it may generate vibration or noise. 


P2-07 KVF Speed Feed Forward Gain 

020FH 

Operation 


Section 6.3.6 

Default: 0 

Control 

Mode: ALL 

Unit: % 

Range: 0 ~ 100 


Display 


Settings: 

This parameter is used to set the feed forward gain when executing speed control 

command. 

When using speed smooth command, increase gain can improve speed track 

deviation. 

When not using speed smooth command, decrease gain can improve the 

resonance condition of mechanical system. 





P2-08■ PCTL Special Factory Setting 

0211H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 65535 


Display 


Settings: 

This parameter can be used to reset all parameters to their original factory 

settings and enable some parameters functions. 

Reset parameters settings: 

10: Users can reset all parameter values to factory defaults. All parameter values 

will be reset after re-power the servo drive. (Before perform this settings, ensure 

that the status of the servo drive is “Servo Off”.) 

Enable parameters functions: 

20: If P2-08 is set to 20, then the parameter P4-10 is enabled. 

22: If P2-08 is set to 22, then the parameters P4-11~P4-19 are enabled. 

406: If P2-08 is set to 406, then the Digital Output (DO) signal can be forced to be 

activated and the drive will enter into Force Output Control operation mode. 

400: If P2-08 is set to 400, it can switch the Force Output Control operation mode 

to normal Digital Output (DO) Control operation mode. 


P2-09 DRT Bounce Filter 

0213H 

Operation 


Default: 2 

Control 

Mode: ALL 

Unit: 2ms 

Range: 0 ~ 20 


Display 


Input Value 

Example: 4 = 8 ms 

Settings: 

For example, if P2-09 is set to 4, the bounce filter time is 4 x 2ms = 8ms. 

When there are too much vibration or noises around environment, increasing this 

setting value (bounce filter time) can improve reliability. However, if the time is too 

long, it may affect the response time. 





P2-10 DI1 Digital Input Terminal 1 (DI1) 

0215H 

Operation 


Default: 101 

Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 015Fh 


Display 


Settings: 

Table 7.A 

The parameters from P2-10 to P2-17 and P2-36 are used to determine the 

functions and statuses of DI1 ~ DI8. 

A: DI (Digital Input) Function Settings: 

For the setting value of P2- 10 ~ P2-17 and P2-36, please refer to Table 7.A. 

B: DI (Digital Input) Enabled Status Settings: 

0: Normally closed (contact b) 

1: Normally open (contact a) 

For example, when P2-10 is set to 101, it indicates that the function of DI1 is SON 

(Servo On, setting value is 0x01) and it requires a normally open contact to be 

connected to it. 

Please re-start the servo drive after parameters have been changed. 

Please note: 

The parameter P3-06 is used to set how the Digital Inputs (DI) accept commands 

and signals through the external terminals or via the communication which is 

determined by parameter P4-07. 



0217H 

Operation 


Table 7.A 

Default: 104 

Control 

Mode: ALL 

Unit: N/A 



Display 


Settings: Refer to P2-10 for explanation. 






0219H 

Operation 


Default: 116 

Control 

Mode: ALL 

Unit: N/A 



Display 



Table 7.A 



021BH 

Operation 


Table 7.A 

Default: 117 

Control 

Mode: ALL 

Unit: N/A 



Display 





021DH 

Operation 


Default: 102 

Control 

Mode: ALL 

Unit: N/A 



Display 



Table 7.A 






021FH 

Operation 


Default: 22 

Control 

Mode: ALL 

Unit: N/A 



Display 



Table 7.A 



0221H 

Operation 


Table 7.A 

Default: 23 

Control 

Mode: ALL 

Unit: N/A 



Display 





0223H 

Operation 


Default: 21 

Control 

Mode: ALL 

Unit: N/A 



Display 



Table 7.A 





P2-18 DO1 Digital Output Terminal 1 (DO1) 

0225H 

Operation 


Default: 101 

Control 

Mode: ALL 

Unit: N/A 



Display 


Settings: 

Table 7.B 

The parameters from P2-18 to P2-22 and P2-37 are used to determine the 

functions and statuses of DO1 ~ DO5. 

A: DO Function Settings: 

For the setting value of P2- 18 ~ P2-22 and P2-37, please refer to Table 7.B. 

B: DO Enabled Status Settings: 



For example, when P2-18 is set to 101, it indicates that the function of DO1 is 

SRDY (Servo ready, setting value is 0x01) and it requires a normally open contact 

to be connected to it. 

Please re-start the servo drive after parameters have been changed. 



0227H 

Operation 


Table 7.B 

Default: 103 

Control 

Mode: ALL 

Unit: N/A 



Display 








0229H 

Operation 


Default: 109 

Control 

Mode: ALL 

Unit: N/A 



Display 



Table 7.B 



022BH 

Operation 


Table 7.B 

Default: 105 

Control 

Mode: ALL 

Unit: N/A 



Display 





022DH 

Operation 


Default: 7 

Control 

Mode: ALL 

Unit: N/A 



Display 



Table 7.B 






022FH 

Operation 


Default: 1000 

Control 

Mode: ALL 

Unit: Hz 

Range: 50 ~ 2000 


Display 


Settings: 

Section 6.2.5 

This parameter is used to set first resonance frequency of mechanical system. It 




The parameters P2-23 and P2-24 are the first group of notch filter parameters and 

the parameters P2-43 and P2-44 are the second group of notch filter parameters. 

P2-24 DPH1 




0231H 

Operation 


Section 6.3.7 

Default: 0 

Control 

Mode: ALL 

Unit: dB 



Display 


Settings: 


by parameter P2-23. If P2-24 is set to 0, the parameters P2-23 and P2-24 are both 

disabled. 






P2-25 NLP 




0233H 

Operation 


Section 6.3.7 

Default: 0.2 (1kW and below 2 (1kW and below 

models) or 0.5 (other models) or 5 (other 

models) 

models) 

Control 

Mode: ALL 

Unit: 1ms 

0.1ms 

Range: 0.0 ~ 100.0 0 ~ 1000 


Display 


Decimal 

Input Value 

1.5 = 1.5 ms 

Example: 

Settings: 

15 = 1.5 ms 

This parameter is used to set low-pass filter time constant of resonance 

suppression. 



P2-26 DST External Anti-Interference Gain 

0235H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: 0.001 



Display 


Settings: 


This parameter is used to increase the damping factor of speed loop. It is 

recommended to set the setting value of P2-26 to be equal to the setting value of 

P2-06. 

Please note: 

1. In speed mode, increasing the parameter value of P2-26 can reduce speed 

overshoot. 

2. In position mode, decreasing the parameter value of P2-26 can reduce position 

overshoot. 





P2-27 GCC Gain Switching Control Selection 

0237H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 4 


Display 


Settings: 

Gain Switching Condition Settings: 

A: Gain Switching Condition Settings: 

0: Disabled 

1: Gain switching DI (Digital Input) signal (GAINUP) is On. (see Table 8.A) 

2: In position mode, position deviation is higher than the setting value of P2-29. 

3: Position command frequency is higher than the setting value of P2-29. 

4: Servo motor speed is higher than the setting value of P2-29. 

5: Gain switching DI (Digital Input) signal (GAINUP) is Off. (see Table 8.A) 

6: In position mode, position deviation is lower than the setting value of P2-29. 

7: Position command frequency is lower than the setting value of P2-29. 

8: Servo motor speed is lower than the setting value of P2-29. 

B: Gain Switching Control Settings: 

0: Gain multiple switching 

1: P PI switching 

Setting P mode S mode Status 

0 

1 

P2-00 x 100% 

P2-04 x 100% 

P2-04 x 100% Before switching 

P2-00 x P2-01 

P2-04 x P2-05 

P2-04 x P2-05 After switching 

P2-06 x 0% 

P2-26 x 0% 

Before switching 

P2-06 x 100% 

P2-26 x 100% 

After switching 





P2-28 GUT Gain Switching Time Constant 

0239H 

Operation 


Default: 10 

Control 

Mode: ALL 

Unit: 10ms 



Display 


Input Value 

15 = 150 ms 

Example: 

Settings: 

This parameter is used to set the time constant when switching the smooth gain. 


P2-29 GPE Gain Switching Condition 

023BH 

Operation 


Default: 160000 

Control 

Mode: ALL 

Unit: pulse, Kpps, r/min 

Range: 0 ~ 3840000 


Display 


Settings: 

This parameter is used to set the value of gain switching condition (pulse error, 

Kpps, r/min) selected in P2-27. The setting value will be different depending on 

the different gain switching condition. 


P2-30■ INH Auxiliary Function 

023DH 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: -8 ~ +8 


Display 


Settings: 

0: Disabled all functions described below. 

1: Force the servo drive to be Servo On (upon software) 

2~4: Reserved 




5: After setting P2-30 to 5, the setting values of all parameters will lost (not remain 

in the EEPROM) at power-down. When the parameters data are no more needed, 

using this mode can allows users not to save parameters data into the EEPROM 

without damaging the EEPROM. P2-30 should be set to 5 when using 

communication control function. 

6: After setting P2-30 to 6, the servo drive will enter into Simulation mode. At this 

time, DO signal SON (Servo on) will be disabled, and the value of DSP Error (0x6F) 

will be regarded as zero. The servo drive can accept commands in each mode and 

monitor the commands via Data Scope function provided by ASDA-Soft software 

program. But, the servo motor will not run when the servo drvie in Simulation 

mode. This setting is only used to check and ensure the command is correct. It 

indicates the external Servo On signal is disabled in this mode, and therefore the 

motor fault messages such as overcurrent, overload, or overspeed, etc. will not 

display. The paraemeter P0-01 displays external fault messages such as reverse 

inhibit limit, forward inhibit limit, or emergency stop, etc. only. 

Please note: 

1. Please set P2-30 to 0 during normal operation. 

2. The setting value of P2-30 will return to 0 automatically after re-power the 

servo drive. 

Speed Frequency Response Level in Auto and 

P2-31 AUT1 

Semi-Auto Mode 

Operation 


023FH 


Section 5.6, 

Section 6.3.6 

Default: 80 

Control 

Mode: ALL 

Unit: Hz 

Range: 1 ~ 1000 


Display 


Settings: 

This parameter allows the users to set the speed frequency response level of 

auto-tuning and semi-auto tuning mode. The speed frequency response settings 

are as follows: 




Please note: 

1. The servo drive will set the position frequency response according to the 


2. This parameter is activated by P2-32. Please refer to Section 5.6 for the tuning 

procedure and the related settings. 





P2-32▲ AUT2 Tuning Mode Selection 

0241H 

Operation 


Section 5.6, 

Default: 0 

Section 6.3.6 

Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 2 


Display 


Settings: 

0: Manual mode 

1: Auto Mode [Continuous adjustment] 

2: Semi-Auto Mode [Non-continuous adjustment] 

Explanation of manual mode: 

1. When P2-32 is set to mode#0, the setting value of P2-00, P2-02, P2-04, P2-06, 

P2-07, P2-25 and P2-26 can be user-defined. When switching mode #1 or #2 to 

#0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2-26 will 

change to the value that measured in #1 auto-tuning mode or #2 semi-auto 

tuning mode. 

Explanation of auto-tuning mode: 

The servo drive will continuously estimate the system inertia, save the measured 

load inertia value automatically and memorized in P1-37 every 30 minutes by 

referring to the frequency response settings of P2-31. 

1. When switching mode #1 or #2 to #0, the servo drive will continuously 

estimate the system inertia, save the measured load inertia value automatically 

and memorized in P1-37. Then, set the corresponding parameters according to 

this measured load inertia value. 

2. When switching mode#0 or #1 to #2, enter the appropriate load inertia value in 

P1-37. 

3. When switching mode#1 to #0, the setting value of P2-00, P2-04 and P2-06 will 

change to the value that measured in #1 auto-tuning mode. 

Explanation of semi-auto tuning mode: 

1. When switching mode #2 to #0, the setting value of P2-00, P2-04, P2-06, P2-25 

and P2-26 will change to the value that measured in #1 auto-tuning mode. 

2. After the system inertia becomes stable (The displau of P2-33 will show 1), it 

will stop estimating the system inertia, save the measured load inertia value 

automatically, and memorized in P1-37. However, when P2-32 is set to 

mode#1 or #2, the servo drive will continuously perform the adjustment for a 

period of time. 

3. When the value of the system inertia becomes over high, the display of P2-33 

will show 0 and the servo drive will start to adjust the load inertia value 

continuously. 




P2-33▲ 

AUT3 

Semi-Auto Mode Inertia Adjustment 

Selection 


0243H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 1 


Display 


Settings: 

When the setting value of A is set to 0 or display is 0, it indicates that the load 

inertia estimation of semi-auto tuning mode has been executed but not been 

completed yet. 

When the setting value of A is set to 1, it indicates that the load inertia estimation 

of semi-auto tuning mode has been completed. The measured load inertia is 

memorized in P1-37. If P2-33 is reset to 0, the servo drive will perform continuous 

adjustment for estimating the load inertia (P1-37) again. 

B: Reserved. 


P2-34 SDEV Overspeed Warning Condition 

0245H 

Operation 


Default: 5000 

Control 

Mode: S 

Unit: r/min 

Range: 1 ~ 6000 


Display 


Display Format: Decimal 

Settings: 

This parameter is used to set the over speed threshold that is used to determine 

the over speed fault condition. When the difference in speed between the desired 

speed and actual motor speed is over than the setting value of parameter P2-34, 

the servo fault, Overspeed (AL007) will be activated. 





P2-35 PDEV Excessive Error Warning Condition 

0247H 

Operation 


Default: 480000 

Control 

Mode: PT 

Unit: pulse 

Range: 1 ~ 16000000 


Display 


Settings: 

This parameter is used to set the position deviation excessive error threshold that 

is used to determine the escessive deviation fault condition. When the difference 

in pulse number between the desired position and actual motor position is over 

than the setting value of parameter P2-35, the servo fault, Excessive Deviation 

(AL009) will be activated. 


P2-36 DI9 External Digital Input Terminal 9 (DI9) 

0249H 

Operation 


Table 7.A 

Default: 0 

Control 

Mode: ALL 

Unit: N/A 



Display 


Settings: 

The parameters from P2-36 to P2-41 are used to determine the functions and 

statuses of external DI9 ~ DI14. 

A: DI (Digital Input) Function Settings: 

For the setting value of P2- 36 ~ P2-41, please refer to Table 7.A. 

B: External DI (Digital Input) Enabled Status Settings: 








024BH 

Operation 


Default: 7 

Control 

Mode: ALL 

Unit: N/A 



Display 



Table 7.B 







024DH 


024FH 


0251H 


0253H 


0255H 



0257H 

Operation 


Section 6.3.7 

Default: 1000 

Control 

Mode: ALL 

Unit: Hz 

Range: 50 ~ 2000 


Display 


Settings: 

This parameter is used to set second resonance frequency of mechanical system. 

It can be used to suppress the resonance of mechanical system and reduce the 








P2-44 DPH2 




0259H 

Operation 


Section 6.3.7 

Default: 0 

Control 

Mode: ALL 

Unit: dB 

Range: 0 ~ 32 


Display 


Settings: 



disabled. 



025BH 

Operation 


Section 6.3.7 

Default: 1000 

Control 

Mode: ALL 

Unit: Hz 

Range: 50 ~ 2000 


Display 


Settings: 

This parameter is used to set third resonance frequency of mechanical system. It 






P2-46 DPH3 


025DH 

Operation 


Section 6.3.7 

Default: 0 

Control 

Mode: ALL 

Unit: dB 

Range: 0 ~ 32 


Display 





Settings: 



disabled. 


P2-47 ANCF Auto Resonance Suppression Mode Selection 

025FH 

Operation 


Default: 1 

Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 2 


Display 


Settings: 

0: Disable Auto Resonance Suppression Mode. 

The setting value of P2-23~P2-24 and P2-43~P2-46 will be fixed and will not be 

changed. 

1: Auto Resonance Suppression Mode 1 [Non-continuous adjustment] 

After the resonance is suppressed, the setting value of P2-23, P2-24, P2-43, 

P2-44, P2-45 and P2-46 will be fixed and will not be changed. 

2: Auto Resonance Suppression Mode 2 [Continuous adjustment] 

The servo drive will perform the resonance suppression continuously (will not 

stop). The setting value of P2-23, P2-24, P2-43, P2-44, P2-45 and P2-46 will not 

be fixed. 

When P2-47 is set to 1, the resonance suppression will be enabled automatically. 

After the mechanical system becomes stable, the setting value of P2-47 will return 

to 0. When the mechanical system is stable, the resonance suppression point will 

be memorized. When the mechanical system is not stable, if the servo drive is 

restarted or P2-47 is set to 1, the servo drive will estimate the resonance 

suppression point again. 

When P2-47 is set to 2, the servo drive will perform the resonance suppression 

continuously. When the mechanical system becomes stable, the resonance 

suppression point will be memorized. When the mechanical system is not stable, if 

the servo drive is restarted, the servo drive will estimate the resonance 

suppression point again. 

When switching the mode#1 or #2 to #0, the setting values of P2-43, P2-44, P2-45 

and P2-46 will be saved automatically. 





P2-48 ANCL Auto Resonance Suppression Detection Level 

0261H 

Operation 


Default: 100 

Control 

Mode: ALL 

Unit: N/A 

Range: 1 ~ 300% 


Display 


Settings: 

When the setting value is smaller, the system will become more sensitive to detect 

and find the resonance. 

When the value of ↑ 

The setting value of P2-48 ↑, the sensitivity of detecting resonance ↓. 

The setting value of P2-48 ↓, the sensitivity of detecting resonance ↑. 


P2-49 SJIT Speed Detection Filter and Jitter Suppression 

0263H 

Operation 


Section 6.2.5 

Default: 0 

Control 

Mode: ALL 

Unit: sec 

Range: 0 ~ 1F 


Display 


Settings: 

Setting Value of P2-49 

Cutoff Frequency of Speed Loop Feedback (Hz) 

00 2500 

01 2250 

02 2100 

03 2000 

04 1800 

05 1600 

06 1500 

07 1400 

08 1300 

09 1200 

0A 1100 

0B 1000 

0C 950 

0D 900 




Setting Value of P2-49 

Cutoff Frequency of Speed Loop Feedback (Hz) 

0E 850 

0F 800 

10 750 

11 700 

12 650 

13 600 

14 550 

15 500 

16 450 

17 400 

18 350 

19 300 

1A 250 

1B 200 

1C 175 

1D 150 

1E 125 

1F 100 


P2-50 DCLR Pulse Deviation Clear Mode 

0265H 

Operation 


Default: 00 

Control 

Mode: PT 

Unit: N/A 

Range: 0 ~ 11 


Display 


Settings: 

Triggering Method 

Function Selection 

Not used 

For digital input function (DI function), please refer to Table 7.A. 

This pulse deviation clear function is enabled when a digital input is set to pulse 

clear function (CCLR mode, DI (Digital Input) setting value is 0x04). When this 

input is triggered, the position accumulated pulse number will be clear to 0. 

(available in PT mode only) 




Triggering Method Settings: 

0: CCLR is triggered by rising-edge 

1: CCLR is triggered bu level 

Function Selection Settings: 

0: Clear position accumulated pulse number 

When this input is triggered, the position accumulated pulse number will be 

clear to 0. 

1: Clear feedback PUU 

When this input is triggered, the feedback PUU will be clear to 0. 




0267H 


0269H 


P2-53 KPI Position Integral Compensation 

026BH 

Operation 


Section 6.3.6 

Default: 0 

Control 

Mode: ALL 

Unit: rad/s 

Range: 0 ~ 1023 


Display 


Settings: 

This parameter is used to set the integral time of position loop. When the value of 

position integral compensation is increased, it can decrease the position control 

deviation. However, if the setting value is over high, it may generate position 

overshoot or noise. 








026DH 


026FH 


0271H 


0273H 


0275H 


0277H 





P2-60 GR4 Electronic Gear Ratio (2nd Numerator) (N2) 

0279H 

Operation 


Default: 16 

Control 

Mode: PT 

Unit: pulse 

Range: 1 ~ (2 26 -1) 


Display 


Settings: 

The electronic gear numerator value can be set via GNUM0, GNUM1 (refer to Table 

7.A). 

When the GNUM0, GNUM1 are not defined, the default of gear numerator value is 

set by P1-44. 

When the users wish to set the gear numerator value by using GNUM0, GNUM1, 

please set P2-60 ~ P2-62 after the servo motor has been stopped to prevent the 

mechanical system vibration. 


P2-61 GR5 Electronic Gear Ratio (3rd Numerator) (N3) 

027BH 

Operation 


Default: 16 

Control 

Mode: PT 

Unit: pulse 

Range: 1 ~ (2 26 -1) 


Display 


Settings: 

Refer to P2-60 for explanation. 





P2-62 GR6 Electronic Gear Ratio (4th Numerator) (N4) 

027DH 

Operation 


Default: 16 

Control 

Mode: PT 

Unit: pulse 

Range: 1 ~ (2 26 -1) 


Display 


Settings: 





027FH 


0281H 


P2-65 GBIT Special Function 1 

0283H 

Operation 


Default: 0 

Control 

Mode: PT, S 

Unit: N/A 

Range: 0 ~ 0xFFFF 

Data Size: N/A 

Display 

Format: N/A 

Settings: 

Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 

Bit5 Bit4 Bit3 Bit2 

Bit2 ~ Bit5: Reserved. Must be set to 0. 

Bit6 

Bit6: Abnormal pulse command detection 

0: enable abnormal pulse command detection 

1: disable abnormal pulse command detection 

Bit8 

Bit8: U, V, W wiring error detection 

1: enable U, V, W wiring error detection 




Bit9 

Bit9: U, V, W wiring cut-off detection 

1: enable U, V, W wiring cut-off detection 

Bit10 

Bit10: DI ZCLAMP function selection 

When the following conditions are all met, ZCLAMP function will be activated. 

Condition1: Speed mode 

Condition2: DI ZCLAMP is activated. 

Condition3: External analog speed command or internal registers speed 

command is less than parameter P1-38. 

0: When the command source is an analog speed command, the users can use 

ZCLAMP DI signal to stop the motor at the desire position and do not care the 

acceleration and deceleration speed curve of the analog speed command. The 

motor will be locked at the position when ZCLAMP conditions are satisfied. 

0: When the command source is an internal speed command, the users can use 

ZCLAMP DI signal to stop the motor at the desire position and keep the the 

acceleration and deceleration speed curve of the internal speed command. The 

motor will be locked at the position when ZCLAMP conditions are satisfied. 

1: When the command source is an analog speed command, the users can use 

ZCLAMP DI signal to stop the motor at the desire position and do not care the 

acceleration and deceleration speed curve of the internal speed command. 

When ZCLAMP conditions are satisfied, the speed command is decreased to 0 

r/min. When ZCLAMP conditions are not satisfied, the speed command will 

follow the analog speed command through Accel/Decel S-curve. 




1: When the command source is an internal speed command, the users can use 

ZCLAMP DI signal to stop the motor at the desire position and keep the 

acceleration and deceleration speed curve of the analog speed command. 

When ZCLAMP conditions are satisfied, the speed command is forced to 0 

r/min directly. 

B11 

Bit11: NL(CWL)/PL(CCWL) pulse input inhibit function 

0: Disable NL(CWL)/PL(CCWL) pulse input inhibit function. In PT mode, no matter 

NL or PL exists or not, external position pulse command will be input into the 

servo drive. 

1: Enable NL(CWL)/PL(CCWL) pulse input inhibit function. In PT mode, if NL exists, 

the external NL pulse input into the servo drive will be inhibited and PL pulse 

input will be accepted. On the one hand, in PT mode, if PL exists, the external 

PL pulse input into the servo drive will be inhibited and PL pulse input will be 

accepted. 

Please note: 

If NL and PL both exist, NL and PL pulse input into the servo drive will be both 

inhibited. 




Bit12 

Bit12: Input power phase loss detection function 

0: Enable Input power phase loss (AL022) detection function 

1: Disable Input power phase loss (AL022) detection function 

Bit13 

Bit13: Encoder output error detection function 

0: Enable encoder output error (AL018) detection function 

1: Disable encoder output error (AL018) detection function 

Bit15 Bit14 



P2-66 GBIT2 Special Function 2 

0285H 

Operation 


Default: 0 

Control 

Mode: PT, S 

Unit: N/A 

Range: 0 ~ 0xFFFF 


Display 


Settings: 

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 

Bit0 

Bit0: Speed limit accel / decel function 

The torque command source is determined by TCM0 and TCM1. When the digital 

input, TQP or TQN is used, the torque command is activated by TQP or TQN. 

When TQP is ON, the torque will be output directly as the same as the command 

souce. For example, when TQP is ON, if the torque command source is an input 

voltage of 5V and P1-41 is set to 100, it indicates that the torque command is 50% 

rated torque until the speed is limited. However, whenTQN is ON, if the torque 

command source is an input voltage of 5V and P1-41 is set to 100, it indicates 

that the torque command is -50% rated torque until the speed is limited. 

Speed limit function can be enabled always by P1-02. When P1-02 is set to 0x10, 

the speed limit function can be enabled all the time and the users do not need to 

use DI, SPDLM to switch the speed limit function. 

The speed limit command is determined by SPD0 and SPD1. The acceleration and 

deceleration time is determined by P1-34, P1-35 and P1-36. 




TQP 

(DI Code: 

0x48) 

TQN 

(DI Code: 

0x49) 

ON ON Zero torque output 

Torque Output 

ON OFF Output the torque of the command source directly 

(do not reverse the command, and output the torque 

directly) 

OFF ON Reverse the torque of the command source 

(reverse the command first, and then output the 

torque) 

OFF OFF Zero torque output 

The timing charts of speed limit profile (with accel / decel function)and torque 

command (TQP/TQN): 

Motormax Speed 

Speed Limit 

Profile Current Speed 

0 RPM 

Torque 

Command 

0 torque 

Vref ×P1-40 

10 

P1-09 

P1-12 P1-14 P1-13 Tref 

Current Speed 

P1-09 

Vref ×P1-40 

10 

0 torque 0 torque 

Tref P1-13 P1-14 P1-12 

TQP 

(DI: 0x48) 

TQN 

(DI: 0x49) 

TCM0 

TCM1 

SPDLM 

SPD0 

Bit1 

Bit1: Reserved. Must be set to 0. 

Bit2 

Bit2: Undervoltage (Servo Drive Fault, AL003) clear mode selection 

0: The fault, Undervoltage will not be cleared automatically. 

1: The fault, Undervoltage will be cleared automatically. 

Bit6 Bit5 Bit4 Bit3 


Bit7 

Bit7: Motor temperature warning (Servo Drive Fault, AL067) display mode 

selection 

0: The fault, Undervoltage will be displayed. 

1: The fault, Undervoltage will not be displayed. 




P2-67 JSL Stable Inertia Estimating Time 


0287H 

Operation 



Control 

Mode: ALL 

Unit: 1 times 

0.1 times 

Range: 0 ~ 200.0 0 ~ 2000 


Display 


Decimal 

Input Value 

1.5 = 1.5 times 

Example: 

Settings: 

15 = 1.5 times 

In semi-auto tuning mode, after the servo drive continuously perform the 

adjustment for a period of time which is determined by P2-67, the system will 

consider that the system inertia has become stable and finish the operation of 

system inertia estimation. 




Group 3: P3-xx Communication Parameters 


P3-00● ADR Communication Address Setting 

0301H 

Operation 


Default: 0x7F 

Control 

Mode: ALL 

Unit: N/A 

Range: 0x01 ~ 0x7F 


Display 


Settings: 

Section 8.2 

This parameter is used to set the communication slave address in hexadecimal 

format. 

Display 0 0 Y X 

Range - - 0 ~ 7 0 ~ F 

X: Axis number which indicates the value must be within the range from 0 through 

F. 

Y: Group number which indicates the value must be within the range from 0 to 

through 7 

When using RS-232/485 communication, this parameter is used set the 

communication address in hexadecimal format. If the AC servo drive is controlled 

by RS-232/485 communication, each drive (or device) must be uniquely identified. 

One servo drive only can set one address. If the address is duplicated, there will be 

a communication fault. This address is an absolute address which represents the 

servo drive on a RS-232/485 network. 

Please note: 

1. When the address of host (external) controller is set to 0xFF, it is with 

auto-respond function. Then, the servo drive will receive from and respond to 

host (external) controller both no matter the address is matching or not. 

However, the parameter P3-00 cannot be set to 0xFF. 


P3-01 BRT Transmission Speed 

0303H 

Operation 


Section 8.2 

Default: 0x0033 

Control 

Mode: ALL 

Unit: bps 

Range: 0x0000 ~ 0x0055 


Display 





Settings: 

This parameter is used to set the baud rate and data transmission speed of the 

communications. 

0 Z Y X 

COM Port - - RS-485 RS-232 

Range 0 0 0 ~ 5 0 ~ 5 

Settings: 

0: Baud rate 4800 (data transmission speed: bits / second) 







P3-02 PTL Communication Protocol 

0305H 

Operation 


Section 8.2 


Control 

Mode: ALL 

Unit: N/A 

Range: 0x0000 ~ 0x0088 


Display 


Settings: 

This parameter is used to set the communication protocol. The alphanumeric 

characters represent the following: 7 or 8 is the number of data bits; N, E or O 

refers to the parity bit, Non, Even or Odd; the 1 or 2 is the numbers of stop bits. 

0 Z Y X 


Range 0 0 0 ~ 8 0 ~ 8 

0: Modbus ASCII mode, 






6: Modbus RTU mode, 







P3-03 FLT Transmission Fault Treatment 

0307H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 1 


Display 


Settings: 

0: Display fault and continue operating 

1: Display fault and decelerate to stop operating 

Section 8.2 

This parameter is used to determine the operating sequence once a 

communication fault has been detected. If '1' is selected, the drive will stop 

operating upon detection the communication fault. The mode of stopping is set by 

parameter P1-32. 


P3-04 CWD Communication Time Out Detection 

0309H 

Operation 


Section 8.2 

Default: 0 

Control 

Mode: ALL 

Unit: sec 

Range: 0 ~ 20 


Display 


Settings: 

This parameter is used to set the maximum permissible time before detecting a 

fault due to communication time out. When P3-04 is set to a value over than 0, it 

indicates this parameter is enabled. However, if not communicating with the servo 

in this period of time, the servo drive will assume the communication has failed 

and show the communication error fault message. 

When P3-04 is set to 0, this parameter is disabled. 





P3-05 CMM Communication Selection 

030BH 

Operation 


Default: 1 

Control 

Mode: ALL 

Unit: N/A 

Range: 0x00 ~ 0x01 


Display 


Settings: 

RS-232 Communication interface selection 

0: RS-232 via Modbus communication 

1: RS-232 upon ASDA-Soft software 

Section 8.2 


P3-06■ SDI Digital Input Communication Function 

030DH 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: 0x0000 ~ 0x1FFF 


Display 


Settings: 

Section 8.2 

The setting of this parameter determines how the Digital Inputs (DI) accept 

commands and signals. 

Bit0 ~ Bit 8 corresponds with DI1 ~ DI9. The least significant bit (Bit0) shows DI1 

status and the most significant bit (Bit7) shows DI8 status. 

Bit settings: 

0: Digital input is controlled by external command (via CN1) 

1: Digital input is controlled by parameter P4-07 

For the settings of DI1 ~ DI9, please refer to P2-10 ~ P2-17 and P2-36. 

This parameter P3-06 also works in conjunction with the parameter P4-07 which 

has several functions. Please see section 8.2 for details. 





P3-07 CDT Communication Response Delay Time 

030FH 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: 1ms 

Range: 0 ~ 1000 


Display 


Settings: 

Section 8.2 

This parameter is used to delay the communication time that servo drive responds 

to host controller (external controller). 


P3-08■ MNS Monitor Mode 

0311H 

Operation 


Section 8.2 

Default: 0000 

Control 

Mode: ALL 

Unit: N/A 

Range: refer to the description of Settings 


Display 


Settings: 

This parameter is used to monitor the data of the servo drive via communication. 

The monitor data can be displayed on PC upon the data scope function provided 

by ASDA-Soft software. 

Word - - Low High 

Function - - Monitor mode 

Range 0 0 0 0 ~ 3 

H: Monitor mode, the value must be within the range from 0 through 3. 

0: Disabled, i.e. disable monitor function. 

1: Reserved. 

2: High-speed monitor mode. The sampling time is 2000 times per second and 4 

channels can be monitored. 

3: High-speed monitor mode. The sampling time is 4000 times per second and 2 

channels can be monitored. 








0313H 


0315H 


0317H 




Group 4: P4-xx Diagnosis Parameters 

P4-00★ 


ASH1 Fault Record (N) 

0401H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: N/A 


Display 


Settings: 

This parameter is used to set the most recent fault record. 

Section 4.4.1 

Display of Low Word: LXXXX: It indicates the fault code, i.e. alarm code 

Display of High Word: hYYYY: Reserved. 


P4-01★ ASH2 Fault Record (N-1) 

0403H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: N/A 


Display 


Settings: 

Section 4.4.1 

This parameter is used to set the second most recent fault record. 

Display of Low Word: LXXXX: It indicates the fault code, i.e. alarm code. 

Display of High Word: hYYYY: It indicates the CANopen error code. 

P4-02★ 


ASH3 Fault Record (N-2) 

0405H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: N/A 


Display 


Settings: 

This parameter is used to set the third most recent fault record. 

Section 4.4.1 








0407H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: N/A 


Display 


Settings: 

Section 4.4.1 

This parameter is used to set the fourth most recent fault record. 





0409H 

Operation 


Section 4.4.1 

Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: N/A 


Display 


Settings: 

This parameter is used to set the fifth most recent fault record. 




P4-05 JOG JOG Operation 

040BH 

Operation 


Default: 20 

Control 

Mode: ALL 

Unit: r/min 

Range: 0 ~ 5000 


Display 


Section 4.4.2 




Settings: 

JOG operation command: 

1. Operation Test 

(1) Press the SET key to display the JOG speed. (The default value is 20 r/min). 

(2) Press the UP or DOWN arrow keys to increase or decrease the desired JOG 

speed. (This also can be undertaken by using the SHIFT key to move the 

cursor to the desired unit column (the effected number will flash) then 

changed using the UP and DOWN arrow keys). 

(3) Press the SET when the desired JOG speed is displayed. The Servo Drive will 

display "JOG". 

(4) Press the UP or DOWN arrow keys to jog the motor either P(CCW) or N(CW) 

direction. The motor will only rotation while the arrow key is activated. 

(5) To change JOG speed again, press the MODE key. The servo Drive will 

display "P4 - 05". Press the SET key and the JOG speed will displayed again. 

Refer back to #(2) and #(3) to change speed. 

(6) In JOG operation mode, if any fault occurs, the motor will stop running. The 

maximum JOG speed is the rated speed of the servo motor. 

2. DI Signal Control 

Set the value of DI signal as JOGU and JOGD (refer to Table 7.A). 

Users can perform JOG run forward and run reverse control. 

3. Communication Control 

To perform a JOG Operation via communication command, use communication 

addresses 040AH and 040BH. 

(1) Enter 1 ~ 5000 for the desired JOG speed 

(2) Enter 4998 to JOG in the P(CCW) direction 

(3) Enter 4999 to JOG in the N(CW) direction 

(4) Enter 0 to stop the JOG operation 

Please note that when using communication control, please set P2-30 to 5 to 

avoid that there are excessive writes to the system flash memory. 

P4-06 

▲ ■ 


FOT Force Output Contact Control 

040DH 

Operation 


Section 4.4.3 

Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 0xFF 


Display 


Settings: 

The function of Digital Outout (DO) is determined by the DO setting value. The 

user can set DO setting value (0x30 ~ 0x3F) via communication and then write the 

values into P4-06 to complete the settings. 




Bit00 corresponds with DO setting value 0x30 










Bit10 corresponds with DO setting value 0x3A 

Bit11 corresponds with DO setting value 0x3B 

Bit12 corresponds with DO setting value 0x3C 

Bit13 corresponds with DO setting value 0x3D 

Bit14 corresponds with DO setting value 0x3E 

Bit15 corresponds with DO setting value 0x3F 

For example: When P2-18 is set to 0x0130, it indicates that the state of DO1 is the 

Bit00 state of P4-06. 

This parameter can also be used to force the state of DO signal. Please refer to 

P2-18 ~ P2-22 to assign the functions of digital outouts (DO signals) and section 

4.4.3 for the Force Outputs Operation. 


P4-07■ ITST Input Status 

040DH 

Operation 


Section 4.4.4 

Default: 0 

Section 8.2 

Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 01FF 


Display 


Settings: 

The control of digital inputs can be determined by the external terminals (DI1 ~ 

DI9) or by the internal software digital inputs SDI1 ~ SDI9 (corresponds to Bit0 ~ 

Bit8 of P1-47) via communication (upon software). Please refer to P3-06 and 

section 8.2 for the setting method. 

P3-06 

External DIs 

Internal DIs 

Read or Write 

Final DI Status 




Read P4-07: Display the final status of DI input signal. 

Write P4-07: Write the status of software digital inputs SDI1 ~ SDI9 

(No matter the servo drive is controller through digital keypad or communication 

control, the function of this parameter is the same.) 

For example: 

External Control: Display the final status of DI input signal 

When the read value of P4-07 is 0x0011, it indicates that DI1 and DI5 are ON. 

Communication Control (Internal DIs): Read the status of input signal (upon 

software). 

For example: 

When the write value of P4-07 is 0x0011, it indicates that software digital inputs 

SDI1 and SDI5 are ON. 

Bit0 ~ Bit8 corresponds with DI1 ~ DI9. 

For the settings of DI1 ~ DI9, please refer to P2-10 ~ P2-17 and P2-36. 


P4-08★ PKEY Digital Keypad Input of Servo Drive 

0411H 

Operation 

Interface: Keypad / Software Communication Related Section: N/A 

Default: N/A 

Control 

Mode: ALL 

Unit: N/A 

Range: Read only 


Display 


Settings: 

This parameter is used to check if MODE, UP, DOWN, SHIFT, and SET keys on the 

drive keypad being pressed or not. It is used to examine if these five keys work 

normally via communication during production. 


P4-09★ MOT Output Status 

0413H 

Operation 


Section 4.4.5 

Default: N/A 

Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 0x1F 


Display 


Settings: 

There is no difference when reading DO output signal via the drive keypad or the 

communication. For the status of DO output signal, please refer to P2-18 ~ P2-22. 





P4-10■ CEN Adjustment Function 

0415H 

Operation 


Default: 0 

Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 6 


Display 


Settings: 

0: Reserved 

1: Execute analog speed input drift adjustment 

2: Execute analog torque input drift adjustment 

3: Execute current detector (V phase) drift adjustment 

4: Execute current detector (W phase) drift adjustment 

5: Execute drift adjustment of the above 1~4 

6: Execute IGBT NTC calibration 

Please note: 

1. This adjustment function is enabled after parameter P2-08 is set to 20. 

2. When executing any adjustment, the external wiring connected to analog 

speed or torque must be removed and the servo system should be off (Servo 

off). 


P4-11 SOF1 Analog Speed Input Drift Adjustment 1 

0417H 

Operation 



Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 32767 


Display 


Settings: 

The adjustment functions from P4-11 through P4-19 are enabled after parameter 

P2-08 is set to 22. Although these parameters allow the users to execute manual 

adjustment, we still do not recommend the users to change the default setting 

value of these parameters (P4-11 ~ P4-19) manually. 






P4-12 SOF2 Analog Speed Input Drift Adjustment 2 

0419H 

Operation 



Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 32767 


Display 


Settings: 




P4-13 TOF1 Analog Torque Drift Adjustment 1 

041BH 

Operation 



Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 32767 


Display 


Settings: 




P4-14 TOF2 Analog Torque Drift Adjustment 2 

041DH 

Operation 



Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 32767 


Display 


Settings: 






P4-15 COF1 

Current Detector Drift Adjustment (V1 

phase) 


041FH 

Operation 



Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 32767 


Display 


Settings: 



P4-16 COF2 

Current Detector Drift Adjustment (V2 

phase) 


0421H 

Operation 



Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 32767 


Display 


Settings: 



P4-17 COF3 

Current Detector Drift Adjustment (W1 

phase) 


0423H 

Operation 



Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 32767 


Display 


Settings: 






P4-18 COF4 

Current Detector Drift Adjustment (W2 

phase) 


0425H 

Operation 



Control 

Mode: ALL 

Unit: N/A 

Range: 0 ~ 32767 


Display 


Settings: 




P4-19 TIGB IGBT NTC Calibration 

0427H 

Operation 



Control 

Mode: ALL 

Unit: N/A 

Range: 1 ~ 3 


Display 


Settings: 


When executing this auto adjustment, please ensure to cool the servo drive to 

25 o C. 

Analog Monitor Output Drift Adjustment 

P4-20 DOF1 

(MON1) 

Operation 


0429H 


Section 6.4.4 


Control 

Mode: ALL 

Unit: mV 

Range: -800 ~ 800 


Display 


Settings: 





P4-21 DOF2 

Analog Monitor Output Drift Adjustment 

(MON2) 


042BH 

Operation 


Section 6.4.4 

Default: 0 

Control 

Mode: ALL 

Unit: mV 

Range: -800 ~ 800 


Display 


Settings: 



P4-22 SAO Analog Speed Input Offset 

042DH 

Operation 


Default: 0 

Control 

Mode: S 

Unit: mV 

Range: -5000 ~ 5000 


Display 


Settings: 

In speed mode, the users can use this parameter to add an offset value to analog 

speed input. 


P4-23 TAO Analog Torque Input Offset 

042FH 

Operation 


Default: 0 

Control 

Mode: T 

Unit: mV 

Range: -5000 ~ 5000 


Display 


Settings: 

In speed mode, the users can use this parameter to add an offset value to analog 

speed input. 





P4-24 LVL Undervoltage Error Level 

0431H 

Operation 


Default: 160 

Control 

Mode: ALL 

Unit: V (rms) 

Range: 140 ~ 190 


Display 


Settings: 

When DC Bus voltage is lower than the value of P4-24 x 

will occur. 

2 , the fault, Undervoltage 




Table 7.A Input Function Definition 

Setting value: 0x01 

DI Name 

DI Function Description 

Trigger 

Method 

Control 

Mode 

SON 

Servo On. When this DI is activated, it indicates the servo 

drive is enabled. 

Level 

Triggered 

All 


DI Name 


Trigger 

Method 

Control 

Mode 

A number of Faults (Alarms) can be cleared by activating 

ARST. Please see table 10-3 for applicable faults that can 

ARST 

be cleared with the ARST command. However, please 

investigate Fault or Alarm if it does not clear or the fault 

Rising-edge 

Triggered 

All 

description warrants closer inspection of the drive 

system. 


DI Name 


Trigger 

Method 

Control 

Mode 

GAINUP 

Gain switching in speed and position mode. When 

GAINUP is activated (P2-27 is set to 1), the gain is 

switched to the gain multiplied by gain switching rate. 

Level 

Triggered 

PT S 


DI Name 


Trigger 

Method 

Contro 

l Mode 

CCLR 

When CCLR is activated, the setting parameter P2-50 

Pulse Clear Mode is executed. 

0: After CCLR is activated (ON), the position accumulated 

Rising-edge 

Triggered, 

Level 

PT 

pulse number will be cleared continuously. 

Triggered 





DI Name 


Trigger 

Method 

Contro 

l Mode 

When this signal is On and the motor speed value is lower 

than the setting value of P1-38, it is used to lock the motor 

in the instant position while ZCLAMP is On. 

Speed 

Command 

ZCLAMP 

Setting value of 

P1-38 (Zero speed) 

ZCLAMP 

input signal 

OFF 

ON 

Level 

Triggered 

S 

Motor Speed 

Setting value of 

P1-38 (Zero speed) 

Time 


DI Name 


Trigger 

Method 

Control 

Mode 

CMDINV 

Command input reverse control. When the drive is in the 

Position, Speed and Torque mode, and CMDINV is 

activated, the motor is in reverse rotation. 

Level 

Triggered 

S, T 


DI Name 


Trigger 

Method 

Control 

Mode 

Reserved 


DI Name 


Trigger 

Method 

Control 

Mode 

Torque limit enabled. When the drive is in speed and 

TRQLM 

position mode, and TRQLM is activated, it indicates the 

torque limit command is valid. The torque limit 

Level 

Triggered 

PT, S 

command source is internal parameter or analog voltage. 





DI Name 


Trigger 

Method 

Control 

Mode 

Speed limit enabled. When the drive is in torque mode 

SPDLM 

and SPDLM is activated, it indicates the speed limit 

command is valid. The speed limit command source is 

Level 

Triggered 

T 

internal parameter or analog voltage. 

Setting value: 0x14 ~ 0x15 

DI 

Name 


Trigger 

Method 

Control 

Mode 

SPD0 

SPD1 

Speed command selection 0 ~ 1 (Command S1 ~ S4) 

DI signal of 

Command 

Command 

CN1 

No. 

Source 

SPD1 SPD0 

Content 

Voltage 

External 

between 

S analog 

V-REF and 

command 

S1 OFF OFF 

GND 

Speed 

Sz None command 

is 0 

S2 OFF ON 

P1-09 

S3 ON OFF Internal P1-10 

parameter 

S4 ON ON P1-11 

Mode 

Range 

+/-10 V 

0 

-60000 

~ 

+60000 

r/min 

Level 

Triggered 

S 

Setting value: 0x16 ~ 0x17 

DI 

Name 


Trigger 

Method 

Control 

Mode 

TCM0 

TCM1 

Torque command selection 0 ~ 1 (Command T1 ~ T4) 

DI signal of 

Command 

Command 

CN1 

No. 

Source 

TCM1 TCM0 

Content 

Voltage 

Range 

T Analog between 

+/-10 V 

command V-REF and 

T1 OFF OFF 

GND 

Torque 

Tz None command 0 

is 0 

T2 OFF ON 

P1-12 

T3 ON OFF 

Internal 

-300 ~ 

P1-13 

parameter 

+300 % 

T4 ON ON P1-14 

Mode 

Level 

Triggered 

T 





DI Name 


Trigger 

Method 

Control 

Mode 

S-P 

Speed / Position mode switching. 

OFF: Speed mode, ON: Position mode 

Level 

Triggered 

P, S 


DI Name 


Trigger 

Method 

Control 

Mode 

S-T 

Speed / Torque mode switching. 

OFF: Speed mode, ON: Torque mode 

Level 

Triggered 

S, T 


DI Name 


Trigger 

Method 

Control 

Mode 

T-P 

Torque / Position mode switching. 

OFF: Torque mode, ON: Position mode 

Level 

Triggered 

P, T 


DI Name 


Trigger 

Method 

Control 

Mode 

EMGS 

Emergency stop. It should be contact “b” and normally 

ON or a fault (AL013) will display. 

Level 

Triggered 

All 


DI Name 


Trigger 

Method 

Control 

Mode 

NL(CWL) 

Reverse inhibit limit. It should be contact “b” and 

normally ON or a fault (AL014) will display. 

Level 

Triggered 

All 


DI Name 


Trigger 

Method 

Control 

Mode 

PL(CCWL) 

Forward inhibit limit. It should be contact “b” and 

normally ON or a fault (AL015) will display. 

Level 

Triggered 

All 





DI Name 


Trigger 

Method 

Control 

Mode 

TLLM 

Torque limit - Reverse operation (Torque limit function is 

valid only when P1-02 is enabled) 

Level 

Triggered 

PT, S 


DI Name 


Trigger 

Method 

Control 

Mode 

TRLM 

Torque limit - Forward operation (Torque limit function is 

valid only when P1-02 is enabled) 

Level 

Triggered 

PT, S 


DI Name 


Trigger 

Method 

Control 

Mode 

JOGU 

Forward JOG input. When JOGU is activated, the motor 

will JOG in forward direction. [see P4-05] 

Level 

Triggered 

All 


DI Name 


Trigger 

Method 

Control 

Mode 

JOGD 

Reverse JOG input. When JOGD is activated, the motor will 

JOG in reverse direction. [see P4-05] 

Level 

Triggered 

All 

Setting value: 0x43, 0x44 

DI Name 


Trigger 

Method 

Control 

Mode 

Electronic gear ratio (Numerator) selection 0 ~ 1 [see 

P2-60 ~ P2-62] 

GNUM0 

GNUM1 

Level 

Triggered 

PT 





DI Name 


Trigger 

Method 

Control 

Mode 

INHP 

Pulse inhibit input. When the drive is in position mode, if 

INHP is activated, the external pulse input command is 

not valid. 

Level 

Triggered 

PT 


DI Name 


Trigger 

Method 

Control 

Mode 

TQP 

Torque command source. Please refer to the settings of 

P2-66 Bit0. 

Level 

Triggered 

T 


DI Name 


Trigger 

Method 

Control 

Mode 

TQN 

Torque command source. Please refer to the settings of 

P2-66 Bit0. 

Level 

Triggered 

T 

NOTE 

1) 11 ~ 17: Single control mode, 18 ~ 20: Dual control mode 

2) When P2-10 to P2-17 and P2-36 is set to 0, it indicates input function is disabled. 




Table 7.B Output Function Definition 


DO Name 

DO Function Description 

Trigger 

Method 

Control 

Mode 

SRDY 

Servo ready. SRDY is activated when the servo drive is 

ready to run. All fault and alarm conditions, if present, 

have been cleared. 

Level 

Triggered 

All 


DO Name 


Trigger 

Method 

Control 

Mode 

SON is activated when control power is applied the servo 

drive. The drive may or may not be ready to run as a fault 

SON 

/ alarm condition may exist. 

Servo ON (SON) is "ON" with control power applied to the 

servo drive, there may be a fault condition or not. The 

Level 

Triggered 

All 

servo is not ready to run. Servo ready (SRDY) is "ON" 

where the servo is ready to run, NO fault / alarm exists. 


DO Name 


Trigger 

Method 

Control 

Mode 

ZSPD is activated when the drive senses the motor is 

equal to or below the Zero Speed Range setting as 

ZSPD 


For Example, at factory default ZSPD will be activated 

when the drive detects the motor rotating at speed at or 

Level 

Triggered 

All 

below 10 r/min, ZSPD will remain activated until the 

motor speed increases above 10 r/min. 


DO Name 


Trigger 

Method 

Control 

Mode 

TSPD is activated once the drive has detected the motor 

TSPD 

has reached the Target Rotation Speed setting as defined 

in parameter P1-39. TSPD will remain activated until the 

Level 

Triggered 

All 

motor speed drops below the Target Rotation Speed. 





DO Name 


Trigger 

Method 

Control 

Mode 

TPOS 

When the drive is in PT mode, TPOS will be activated when 

the position error is equal and below the setting value of 

P1-54. 

Level 

Triggered 

PT 


DO Name 


Trigger 

Method 

Control 

Mode 

TQL 

TQL is activated when the drive has detected that the 

motor has reached the torques limits set by either the 

parameters P1-12 ~ P1-14 of via an external analog 

voltage. 

Level 

Triggered 

All, 

except 

T, Tz 


DO Name 


Trigger 

Method 

Control 

Mode 

ALRM is activated when the drive has detected a fault 

ALRM 

condition. (However, when Reverse limit error, Forward 

limit error, Emergency stop, Serial communication error, 

and Undervoltage these fault occur, WARN is activated 

Level 

Triggered 

All 

first.) 


DO Name 


Trigger 

Method 

Control 

Mode 

Electromagnetic brake control. BRKR is activated 

(Actuation of motor brake). (Please refer to parameters 

P1-42 ~ P1-43) 

BRKR 

Level 

Triggered 

All 





DO Name 


Trigger 

Method 

Control 

Mode 

Output overload warning. OLW is activated when the servo 

drive has detected that the motor has reached the output 

overload time set by parameter P1-56. 

t OL = Permissible Time for Overload x setting value of 

P1-56 

When overload accumulated time (continuously overload 

time) exceeds the value of tOL, the overload warning 

signal will output, i.e. DO signal, OLW will be ON. 

However, if the accumulated overload time (continuous 

overload time) exceeds the permissible time for overload, 

the overload alarm (AL006) will occur. 

For example: 

OLW 

If the setting value of parameter P1-56 (Output Overload 

Warning Time) is 60%, when the permissible time for 

overload exceeds 8 seconds at 200% rated output, the 

Level 

Triggered 

All 

overload fault (AL006) will be detected and shown on the 

LED display. 

At this time, t OL = 8 x 60% = 4.8 seconds 

Result: 

When the drive output is at 200% rated output and the 

drive is continuously overloaded for 4.8 seconds, the 

overload warning signal will be ON (DO code is 0x10, i.e. 

DO signal OLW will be activated). If the drive is 

continuously overloaded for 8 seconds, the overload 

alarm will be detected and shown on the LED display 

(AL006). Then, Servo Fault signal will be ON (DO signal 

ALRM will be activated). 


DO Name 


Trigger 

Method 

Control 

Mode 

Servo warning activated. WARN is activated when the drive 

WARN 

has detected Reverse limit error. Forward limit error, 

Emergency stop, Serial communication error, and 

Level 

Triggered 

All 

Undervoltage these fault conditions. 





DO Name 


Trigger 

Method 

Control 

Mode 

SNL 

(SCWL) 

Reverse software limit. SNL is activated when the servo 

drive has detected that reverse software limit is reached. 

Level 

Triggered 

All 


DO Name 


Trigger 

Method 

Control 

Mode 

SPL 

(SCCWL) 

Forward software limit. SPL is activated when the servo 

drive has detected that forward software limit is reached. 

Level 

Triggered 

All 


DO Name 


Trigger 

Method 

Control 

Mode 

SP_OK 

Speed reached output. SP_OK will be activated when the 

speed error is equal and below the setting value of P1-47. 

Level 

Triggered 

S, Sz 


DO Name 


Trigger 

Method 

Control 

Mode 

SDO_0 

Output the status of bit00 of P4-06. 

Level 

Triggered 

All 


DO Name 


Trigger 

Method 

Control 

Mode 

SDO_1 


Level 

Triggered 

All 


DO Name 


Trigger 

Method 

Control 

Mode 

SDO_2 


Level 

Triggered 

All 





DO Name 


Trigger 

Method 

Control 

Mode 

SDO_3 


Level 

Triggered 

All 


DO Name 


Trigger 

Method 

Control 

Mode 

SDO_4 


Level 

Triggered 

All 


DO Name 


Trigger 

Method 

Control 

Mode 

SDO_5 


Level 

Triggered 

All 


DO Name 


Trigger 

Method 

Control 

Mode 

SDO_6 


Level 

Triggered 

All 


DO Name 


Trigger 

Method 

Control 

Mode 

SDO_7 


Level 

Triggered 

All 


DO Name 


Trigger 

Method 

Control 

Mode 

SDO_8 


Level 

Triggered 

All 





DO Name 


Trigger 

Method 

Control 

Mode 

SDO_9 


Level 

Triggered 

All 

Setting value: 0x3A 

DO Name 


Trigger 

Method 

Control 

Mode 

SDO_A 


Level 

Triggered 

All 

Setting value: 0x3B 

DO Name 


Trigger 

Method 

Control 

Mode 

SDO_B 


Level 

Triggered 

All 

Setting value: 0x3C 

DO Name 


Trigger 

Method 

Control 

Mode 

SDO_C 


Level 

Triggered 

All 

Setting value: 0x3D 

DO Name 


Trigger 

Method 

Control 

Mode 

SDO_D 


Level 

Triggered 

All 

Setting value: 0x3E 

DO Name 


Trigger 

Method 

Control 

Mode 

SDO_E 


Level 

Triggered 

All 




Setting value: 0x3F 

DO Name 


Trigger 

Method 

Control 

Mode 

SDO_F 


Level 

Triggered 

All 

NOTE 

1) When P2-18 to P2-22 and P2-37 is set to 0, it indicates output function is disabled. 


Chapter 8 MODBUS Communications 

8.1 Communication Hardware Interface 

The ASDA-B2 series servo drive has three modes of communication: RS-232 and RS-485. All 

aspects of control, operation and monitoring as well as programming of the controller can be 

achieved via communication. The two communication modes can be used at a time. Please 

refer to the following sections for connections and limitations. 

RS-232 

• Connection 

CN3 

1394 

Connector 

D-Sub 

9 Pin 

Connector 

4 (Rx) 

2 (Tx) 

1 (GND) 

3 (Tx) 

2 (Rx) 

5 (GND) 

NOTE 

1) Recommended maximum cable length is 15m (50ft.). Please note, RFI / EME noise should be 

kept to a minimum, communication cable should kept apart from high voltage wires. If a 

transmission speed of 38400 bps or greater is required, the maximum length of the 

communication cable is 3m (9.84ft.) which will ensure the correct and desired baud rate. 

2) The number shown in the pervious figure indicates the terminal number of each connector. 




RS-485 

• Connection 

CN3 

1394 

Connector 

D-Sub 

9 Pin 

Connector 

Servo 1 

485(+) 

5 

6 485(-) 

485 (+) 

485 (-) 

Servo 2 

5 

6 

NOTE 

1) The maximum cable length is 100m (39.37inches) when the servo drive is installed in a 

location where there are only a few interferences. Please note, RFI / EME noise should be kept 

to a minimum, communication cable should kept apart from high voltage wires. If a 

transmission speed of 38400bps or greater is required, the maximum length of the 

communication cable is 15m (50ft.) which will ensure the correct and desired baud rate. 

2) The number shown in the pervious figure indicates the terminal number of each connector. 

3) The power supply should provide a +12V and higher DC voltage. 

4) Please use a REPEATER if more than 32 synchronous axes are required. 

5) For the terminal identification of CN3, please refer to Section 3.5. 




8.2 Communication Parameter Settings 

The following describes the communication addresses for the communication parameters. 

Parameters P3-00, P3-01, P3-02 and P3-05 are required to be set for any communication 

between the servo drives and motors. The other optional parameters such as P3-03, P3-04, 

P3-06, P3-07 and P3-08 are used depending on different customer demands and applications. 

For optional communication parameters, please refer to the Chapter 7. 

P3-00● ADR Communication Address Setting 


0301H 

Operation 


Section 8.2 

Default: 0x7F 

Control 

Mode: ALL 

Unit: N/A 

Range: 0x01 ~ 0x7F 


Display 


Settings: This parameter is used to set the communication slave address in 

hexadecimal format. 

Display 0 0 Y X 

Range - - 0 ~ 7 0 ~ F 

X: Axis number which indicates the value must be within the range 

from 0 through F. 

Y: Group number which indicates the value must be within the 

range from 0 to through 7 

When using RS-232/485 communication, this parameter is used set 

the communication address in hexadecimal format. If the AC servo 

drive is controlled by RS-232/485 communication, each drive (or 

device) must be uniquely identified. One servo drive only can set 

one address. If the address is duplicated, there will be a 

communication fault. This address is an absolute address which 

represents the servo drive on a RS-232/485 network. 

Please note: 

1. When the address of host (external) controller is set to 0xFF, it 

is with auto-respond function. Then, the servo drive will receive 

from and respond to host (external) controller both no matter 

the address is matching or not. However, the parameter P3-00 

cannot be set to 0xFF. 




P3-01 BRT Transmission Speed 


0303H 

Operation 


Section 8.2 


Control 

Mode: ALL 

Unit: bps 

Range: 0x0000 ~ 0x0055 


Display 


Settings: This parameter is used to set the baud rate and data transmission 

speed of the communications. 

0 Z Y X 


Range 0 0 0 ~ 5 0 ~ 5 

Settings: 








P3-02 PTL Communication Protocol 

0305H 

Operation 


Section 8.2 


Control 

Mode: ALL 

Unit: N/A 

Range: 0x0000 ~ 0x0088 


Display 





Settings: This parameter is used to set the communication protocol. The 

alphanumeric characters represent the following: 7 or 8 is the 

number of data bits; N, E or O refers to the parity bit, Non, Even or 

Odd; the 1 or 2 is the numbers of stop bits. 

0 Z Y X 


Range 0 0 0 ~ 8 0 ~ 8 











P3-05 CMM Communication Selection 

030BH 

Operation 


Section 8.2 

Default: 1 

Control 

Mode: ALL 

Unit: N/A 

Range: 0x00 ~ 0x01 


Display 


Settings: RS-232 Communication interface selection 

0: RS-232 via Modbus communication 

1: RS-232 upon ASDA-Soft software 




8.3 MODBUS Communication Protocol 

When using RS-232/485 serial communication interface, each ASDA-B2 series AC servo drive 

has a pre-assigned communication address specified by parameter “P3-00”. The computer 

then controls each AC servo drive according to its communication address. ASDA-B2 series AC 

servo drive can be set up to communicate on a MODBUS networks using on of the following 

modes: ASCII (American Standard Code for Information Interchange) or RTU (Remote Terminal 

Unit). Users can select the desired mode along with the serial port communication protocol in 

parameter “P3-02”. 

• Code Description: 

ASCII Mode: 

Each 8-bit data is the combination of two ASCII characters. For example, a 1-byte data: 64 Hex, 

shown as ‘64’ in ASCII, consists of ‘6’ (36Hex) and ‘4’ (34Hex). 

The following table shows the available hexadecimal characters and their corresponding ASCII 

codes. 

Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’ 

ASCII code 30H 31H 32H 33H 34H 35H 36H 37H 

Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’ 

ASCII code 38H 39H 41H 42H 43H 44H 45H 46H 

RTU Mode: 

Each 8-bit data is the combination of two 4-bit hexadecimal characters. For example, a 1-byte 

data: 64 Hex. 

• Data Format: 

10-bit character frame (For 7-bit character) 

7N2 

Start 

bit 0 1 2 3 4 5 6 

7-data bits 

10-bits character frame 

Stop 

bit 

Stop 

bit 

7E1 

Start 

bit 0 1 2 3 4 5 6 

Even 

parity 

Stop 

bit 

7-data bits 


7O1 

Start 

bit 0 1 2 3 4 5 6 

Odd 

parity 

Stop 

bit 

7-data bits 





11-bit character frame (For 8-bit character) 

8N2 

Start 

bit 0 1 2 3 4 5 6 

7 

Stop 

bit 

Stop 

bit 

8-data bits 


8E1 

Start 

bit 0 1 2 3 4 5 6 

7 

Even 

parity 

Stop 

bit 

8-data bits 


8O1 

Start 

bit 0 1 2 3 4 5 6 

7 

Odd 

parity 

Stop 

bit 

8-data bits 


• Communication Protocol: 

ASCII Mode: 

Start 

Slave address 

Function 

DATA(n-1) 

……. 

DATA(0) 

LRC 

End 1 

End 0 

Start character’: ’ (3AH) 

Communication address: 1-byte consists of 2 ASCII codes 

Function code: 1-byte consists of 2 ASCII codes 

Contents of data: n word = n x 2-byte consists of n x 4 ASCII codes, 

n≤10 

LRC check sum: 1-byte consists of 2 ASCII codes 

End code 1: (0DH)(CR) 

End code 0: (0AH)(LF) 

ASCII Mode: ’:’ character 

ADR (Communication Address) consists of 2 ASCII codes and it ends in CR (Carriage Return) 

and LF (Line Feed) 

CR (Carriage Return) is represented by ASCII number 13, and LF (Line Feed) is represented by 

ASCII number 10. 

There are communication address, function code, contents of data, LRC (Longitudinal 

Redundancy Check) between start and end characters. 




RTU Mode: 

Start 

Slave address 

Function 

DATA(n-1) 

……. 

DATA(0) 

CRC 

End 1 

A silent interval of more than 10ms 

Communication address: 1-byte 

Function code: 1-byte 

Contents of data: n word = n x 2-byte, n≤10 

CRC check sum: 1-byte 

A silent interval of more than 10ms 

RTU Mode: A silent interval of more than 10ms 

RTU (Remote Terminal Unit) starts from a silent signal and ends at another silent signal. 

There are communication address, function code, contents of data, CRC (Cyclical Redundancy 

Check) between start and end characters. 

DATA (Data Characters) 

The format of data characters depends on the function code. The available command codes 

and examples for AC servo drive are described as follows: 

Example 1 

Function code: 03H, read N words (multiple words). The maximum value of N is 10. 

For example, reading continuous 2 words from starting address 0200H of AC servo drive with 

address 01H. 

ASCII Mode: 

Command message: 

Response message: 

Start ‘:’ Start ‘:’ 

Slave address 

‘0’ 

‘0’ 

Slave address 

‘1’ ‘1’ 

Function 

‘0’ 

‘0’ 

Function 

‘3’ ‘3’ 

‘0’ Number of data 

‘0’ 

Starting data 

‘2’ (In Byte) 

‘4' 

address 

‘0’ 

‘0’ 

‘0’ 

Contents of 

‘0’ 

starting data 

‘0’ 

address 0200H 

‘B’ 

‘0’ ‘1’ 

Number of data 

‘0’ 

‘1’ 

‘2’ 

Contents of 

‘F’ 

second data 

‘F’ 

LRC Check 

address 0201H 

‘4’ 

‘8’ ‘0’ 

End 1 

(0DH)(CR) 

‘E’ 

LRC Check 

End 0 (0AH)(LF) ‘8’ 

End 1 

(0DH)(CR) 

End 0 

(0AH)(LF) 




RTU Mode: 



Slave address 01H Slave address 01H 

Function 03H Function 03H 

Starting data 02H (Upper bytes) 


address 00H (Lower bytes) 

(In Byte) 

04H 


00H 

Contents of 00H (Upper bytes) 

starting data 

(In Word) 

02H 

address 0200H B1H (Lower bytes) 

CRC Check Low C5H (Lower bytes) Contents of 1FH (Upper bytes) 

second data 

CRC Check High B3H (Upper bytes) address 0201H 40H (Lower bytes) 

CRC Check Low A3H (Lower bytes) 

CRC Check High D4H (Upper bytes) 

Please note that a silent interval of more than 10ms is required before and after data 

transmission in RTU mode. 

Example 2 

Function code: 06H, write 1 word 

For example, writing 100 (0064H) to starting data address 0200H of ASDA-B2 series with 

address 01H. 

ASCII Mode: 




Slave address 

‘0’ 

‘0’ 

Slave address 

‘1’ ‘1’ 

Function 

‘0’ 

‘0’ 

Function 

‘6’ ‘6’ 

‘0’ 

‘0’ 

Starting data 

‘2’ Starting data 

‘2' 

address 

‘0’ address 

‘0’ 

‘0’ ‘0’ 

‘0’ 

‘0’ 

Content of data 

‘0’ ‘0’ 


‘6’ ‘6’ 

‘4’ ‘4’ 

LRC Check 

‘9’ 

‘9’ 

LRC Check 

‘3’ ‘3’ 

End 1 (0DH)(CR) End 1 (0DH)(CR) 

End 0 (0AH)(LF) End 0 (0AH)(LF) 




RTU Mode: 



Slave Address 01H Slave Address 01H 







00H (Upper bytes) 



64H (Lower bytes) 


CRC Check Low 89H (Lower bytes) CRC Check Low 89H (Lower bytes) 

CRC Check High 99H (Upper bytes) CRC Check High 99H (Upper bytes) 



Example 3 

Function code: 10H, write N words (multiple words). The maximum value of N is 10. 

For example, writing continuous 2 words, 0BB8H and 0000H from starting address 0112H 

and address 0113H. 

ASCII Mode: 




Slave Address 

‘0’ 

‘0’ 

Slave Address 

‘1’ ‘1’ 

Function 

‘1’ 

‘1’ 

Function 

‘0’ ‘0’ 

‘0’ 

‘0’ 

Starting data 

‘1’ Starting data 

‘1' 

address 

‘1’ address 

‘1’ 

‘2’ ‘2’ 

‘0’ 

‘0’ 


‘0’ ‘0’ 


(In Word) 

‘0’ ‘0’ 

‘2’ ‘2’ 


‘0’ 

‘D’ 

LRC Check 

(In Byte) 

‘4’ ‘A’ 

‘0’ End 1 (0DH)(CR) 

Content of 1st 

‘B’ End 0 (0AH)(LF) 

data 

‘B’ 

‘8’ 

Content of 2nd 

data 

‘0’ 

‘0’ 

‘0’ 

‘0’ 




LRC Check 

End 1 

End 0 

‘1’ 

‘3’ 

(0DH)(CR) 

(0AH)(LF) 

RTU Mode: 



Slave Address 01H Slave Address 01H 






Number of data 00H (Upper bytes) 

Content of data 00H (Upper bytes) 

(In Word) 02H (Lower bytes) 

(In Word) 02H (Lower bytes) 


CRC Check Low E0H (Lower bytes) 

04H 

(In Byte) 

CRC Check High 31H (Upper bytes) 

Content of 1st 

data 

0BH (Upper bytes) 

B8H (Lower bytes) 

Content of 2nd 

data 



CRC Check Low FCH (Lower bytes) 

CRC Check High EBH (Upper bytes) 



LRC (ASCII Mode): 

LRC (Longitudinal Redundancy Check) is calculated by summing up, module 256, the values 

of the bytes from ADR to last data character then calculating the hexadecimal representation 

of the 2’s-complement negation of the sum. 

Example 

STX ‘:’ 

‘7’ 

ADR 

‘F’ 

‘0’ 

CMD 

‘3’ 

‘0’ 

‘5’ 

Starting data address 

‘C’ 

‘4’ 

‘0’ 

‘0’ 


‘0’ 

‘1’ 

‘B’ 

LRC Check 

‘4’ 




End 1 

End 0 

(0DH)(CR) 

(0AH)(LF) 

7FH + 03H + 05H + C4H + 00H + 01H = 14CH, the 2’s complement negation of 4CH is B4H. 

Hence, we can know that LRC CHK is ’B’,’4’. 

CRC (RTU Mode): 

CRC (Cyclical Redundancy Check) is calculated by the following steps: 

Step 1: Load a 16-bit register (called CRC register) with FFFFH. 

Step 2: Exclusive OR the first 8-bit byte of the command message with the low order byte of 

the 16-bit CRC register, putting the result in the CRC register. 

Step 3: Extract and examine the LSB. If the LSB of CRC register is 0, shift the CRC register one 

bit to the right. If the LSB of CRC register is 1, shift the CRC register one bit to the 

right, then Exclusive OR the CRC register with the polynomial value A001H. 

Step 4: Repeat step 3 until eight shifts have been performed. When this is done, a complete 8- 

bit byte will have been processed, then perform step 5. 

Step 5: Repeat step 2 to step 4 for the next 8-bit byte of the command message. 

Continue doing this until all bytes have been processed. The final contents of the CRC 

register are the CRC value. 

NOTE 

1) When transmitting the CRC value in the message, the upper and lower bytes of the CRC 

value must be swapped, i.e. the lower order byte will be transmitted first. 

2) For example, reading 2 words from address 0101H of the AC servo drive with address 01H. 

The final content of the CRC register from ADR to last data character is 3794H, then the 

command message is shown as follows. What should be noticed is that 94H have to be 

transmitted before 37H. 

Command Message 

ADR 

01H 

CMD 

03H 

Starting data 

address 

01H (Upper byte) 



(In Word) 



CRC Check Low 94H (Lower bytes) 

CRC Check High 37H (Upper bytes) 




End1, End0 (Communication End) 

ASCII Mode: 

In ASCII mode, (0DH) stands for character ’\r’ (carriage return) and (0AH) stands for 

character ’\n’ (new line), they indicate communication end. 

RTU Mode: 

In RTU mode, a silent interval of more than 10ms indicates communication end. 

CRC Program Example 

The following is an example of CRC generation using C language. The function takes two 

arguments: 

unsigned char* data; 

unsigned char length 

The function returns the CRC value as a type of unsigned integer. 

unsigned int crc_chk(unsigned char* data, unsigned char length) { 

int j; 

unsigned int reg_crc=0xFFFF; 

while( length-- ) { 

reg_crc^= *data++; 

for (j=0; j> 1)^0xA001; 

} else { 

reg_crc = (reg_crc>>1); 

} 

} 

} 

return reg_crc; 

} 

PC communication program example: 

#include 

#include 

#include 

#include 

#define PORT 0x03F8 /* the address of COM 1 */ 

#define THR 0x0000 

#define RDR 0x0000 




#define BRDL 0x0000 

#define IER 0x0001 

#define BRDH 0x0001 

#define LCR 0x0003 

#define MCR 0x0004 

#define LSR 0x0005 

#define MSR 0x0006 

unsigned char rdat[60]; 

/* read 2 data from address 0200H of ASD with address 1 */ 

unsigned char tdat[60]={‘:’,’0’,’1’,’0’,’3’,’0’,’2’,’0’,’0’,’0’,’0’,’0’,’2’,’F’,’8’,’\r’,’\n’}; 

void main() { 

int I; 

outportb(PORT+MCR,0x08); /* interrupt enable */ 

outportb(PORT+IER,0x01); /* interrupt as data in */ 

outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) ); 

/* the BRDL/BRDH can be access as LCR.b7 == 1 */ 

outportb(PORT+BRDL,12); 

outportb(PORT+BRDH,0x00); 

outportb(PORT+LCR,0x06); 

/* set prorocol 

= 1AH, 

= 0AH 

= 07H 

= 1BH 

= 0BH 

*/ 

for( I = 0; I



8.4 Communication Parameter Write-in and Read-out 

There are following five groups for parameters: 

Group 0: Monitor parameter 

Group 1: Basic parameter 

Group 2: Extension parameter 

Group 3: Communication parameter 

Group 4: Diagnosis parameter 






For a complete listing and description of all parameters, refer to Chapter 7. 

Communication write-in parameters for ASDA-B2 series are including: 

Group 0: All parameters except P0-00 ~ P0-01, P0-08 ~ P0-13 and P0-46 

Group 1: P1-00 ~ P1-76 

Group 2: P2-00 ~ P2-67 

Group 3: P3-00 ~ P3-11 

Group 4: All parameters except P4-00 ~ P4-04 and P4-08 ~ P4-09 

NOTE 

1) P3-01 After the new transmission speed is set, the next data will be written in new 

transmission speed. 

2) P3-02 After the new communication protocol is set, the next data will be written in new 

communication protocol. 

3) P4-05 JOG control of servo motor. For the description, refer to Chapter 7. 

4) P4-06 Force output contact control. This parameter is for the users to test if DO (Digit 

output) is normal. User can set 1, 2, 4, 8, 16, 32 to test DO1, DO2, DO3, DO4, DO5, 

DO6 respectively. After the test has been completed, please set this parameter to 0 

to inform the drive that the test has been completed. 

5) P4-10 Adjustment function selection. If the user desires to change the settings of this 

parameter, the user has to set the value of the parameter P2-08 to 20 (hexadecimal: 

14H) first and then restart. After restarting, the settings of parameter P4-10 can 

become modified. 

6) P4-11 ~ P4-21 These parameters are for offset adjustment. Do not change the factory 

default setting if not necessary. If the user desires to change the settings of 

these parameters, the user has to set the value of the parameter P2-08 to 22 

(hexadecimal: 16H) first and then restart. After restarting, the settings of 

parameters P4-11 to P4-21 can become modified. 




Communication read-out parameters for ASDA-B2 series are including: 

Group 0: P0-00 ~ P0-46 

Group 1: P1-00 ~ P1-76 

Group 2: P2-00 ~ P2-67 

Group 3: P3-00 ~ P3-11 

Group 4: P4-00 ~ P4-24 


Chapter 9 Troubleshooting 

If a fault is detected on the servo drive or motor a corresponding fault code will be shown on 

the drive's LED display. Fault codes can also be transmitted via communication, see P0-01 and 

P4-00 ~ P4-04 for display on controller or HMI. 

9.1 Fault Messages Table 

Servo Drive Fault Messages 

Fault Messages 

Display Fault Name Fault Description 

Overcurrent 

Main circuit current is higher than 1.5 multiple of 

motor’s instantaneous maximum current value. 

Overvoltage 

Undervoltage 

Motor error 

Main circuit voltage has exceeded its maximum 

allowable value. 

Main circuit voltage is below its minimum specified 

value. 

The motor does not match the drive. They are not 

correctly matched for size (power rating). 

Regeneration error 

Overload 

Overspeed 

Abnormal pulse 

control command 

Excessive deviation 

Reserve 

Encoder error 

Adjustment error 

Emergency stop 

activated 

Reverse limit switch 

error 

Forward limit switch 

error 

Regeneration control operation is in error. 

Servo motor and drive is overload. 

Motor’s control speed exceeds the limit of normal 

speed. 

Input frequency of pulse command exceeds the limit of 

its allowable setting value. 

Position control deviation value exceeds the limit of its 

allowable setting value. 

Reserve 

Pulse signal is in error. 

Adjusted value exceeds the limit of its allowable setting 

value when perform electrical adjustment. 

Emergency stop switch is activated. 

Reverse limit switch is activated. 

Forward limit switch is activated. 




Fault Messages 

Display Fault Name Fault Description 

IGBT temperature 

error 

The temperature of IGBT is over high. 

Memory error 

EE-PROM write-in and read-out is in error. 

Encoder output error 


error 


time out 

The encoder output exceeds the rated output 

frequency. 

RS232/485 communication is in error. 

RS232/485 communication time out. 

Reserve 

Input power phase 

loss 

Pre-overload warning 

Encoder initial 

magnetic field error 

Encoder internal 

error 

Encoder data error 

Motor internal error 



Motor protection 

error 

U,V,W, GND wiring 

error 

Motor temperature 

error 

Excessive encoder 

output error 


warning 

DSP firmware 

upgrade 

Reserve 

One phase of the input power is loss. 

To warn that the servo motor and drive is going to 

overload. This alarm will display before ALM06. When 

the servo motor reach the setting value of P1-56, the 

motor will send a warning to the drive. After the drive 

has detected the warning, the DO signal OLW will be 

activated and this fault message will display. 

The magnetic field of the encoder U, V, W signal is in 

error. 

The internal memory of the encoder is in error. An 

internal counter error is detected. 

An encoder data error is detected for three times. 

The setting value of the encoder is in error. 

The encoder U, V, W signals are in error. 

The internal address of the encoder is in error. 

In order to protect the motor, this alarm will be 

activated when the setting value of P1-57 is reached 

after a period of time set by P1-58. 

The wiring connections of U, V, W (for servo motor 

output) and GND (for grounding) are in error. 

Motor is working under temperature over 105°C 

(221°F). 

The encoder output errors or output pulses exceed 

hardware tolerance. 

The temperature of motor is over 85°C (185°F). 

EE-PROM is not reset after the firmware version is 

upgraded. 

This fault can be cleared after setting P2-08 to 30 first, 

and then setting P2-08 to 28 next and restarting the 

ervo drive. 




NOTE 

1) If there is any unknown fault code that is not listed on the above table, please inform the 

distributor or contact with Delta for assistance. 




9.2 Potential Cause and Corrective Actions 

Servo Drive Fault Messages 

: Overcurrent 

Potential Cause Checking Method Corrective Actions 

Short-circuit at drive 

output (U, V, W) 

1. Check the wiring connections between 

drive and motor. 

2. Check if the wire is short-circuited. 

Repair the short-circuited and 

avoid metal conductor being 

exposed. 

Motor wiring error 

IGBT error 

Control parameter 

setting error 

Control command 

setting error 

Check if the wiring steps are all correct 

when connecting motor to drive. 

Heat sink overheated 

Check if the setting value exceeds the 

factory default setting. 

Check if the control input command is 

unstable (too much fluctuation). 

Follow the wiring steps in the 

user manual to reconnect 

wiring. 

Please contact your distributor 

for assistance or contact with 

Delta. 

Set the setting back to factory 

default setting and then reset 

and adjust the parameter 

setting again. 

1. Ensure that input command 

frequency is stable (too 

much fluctuation). 

2. Activate filter function. 

: Overvoltage 


The main circuit 

voltage has 

exceeded its 

maximum allowable 

value. 

Use voltmeter to check whether the input 

voltage falls within the rated input 

voltage. 

Use correct power supply or 

stabilizing power. 

Input power error 

(Incorrect power 

input) 


voltage is within the specified limit. 


stabilizing power. 

: Undervoltage 


The main circuit 

voltage is below its 

minimum specified 

value. 

No input voltage at 

main circuit. 

Check whether the wiring of main circuit 

input voltage is normal. 

Use voltmeter to check whether input 

voltage at main circuit is normal. 

Reconfirm voltage wiring. 

Reconfirm power switch. 

Input power error 

(Incorrect power 

input) 


voltage is within the specified limit. 


serial stabilizing power. 




: Motor error 


Encoder is damage. Check Encoder for the damage. 

Repair or replace the motor. 

Encoder is loose. Examine the Encoder connector. Install the motor again. 

The type of the 

servo motor is 

incorrect. 

Check if the servo drive and servo motor Replace the motor. 

are not correctly matched for size (power 

rating). 

: Regeneration error 


Regenerative 

resistor is not 

connected. 

Regenerative switch 

transistor fault 

Parameter setting is 

in error 

Check the wiring connection of 


Check if regenerative switch transistor is 

short-circuited. 

Confirm the parameter setting and 

specifications of regenerative resistor. 

Reconnect regenerative 

resistor. 

Please contact your distributor 

for assistance or contact with 


Correctly reset parameter 

again. 

: Overload 


The drive has 

exceeded its rated 

load during 

continuous 

operation. 

Control system 

parameter setting is 

incorrect. 

The wiring of drive 

and encoder is in 

error. 

Check if the drive is overloaded. 

Check if there is mechanical vibration 

Accel/Decel time setting is too fast. 

Increase motor capacity or 

reduce load. 

Adjust gain value of control 

circuit. 

Decrease Accel/Decel time 

setting. 

Check the wiring of U, V, W and encoder. Ensure all wiring is correct. 

: Overspeed 


Speed input 

command is not 

stable (too much 

fluctuation). 

Over-speed 


defective. 

Use signal detector to detect if input 

signal is abnormal. 

Check if over-speed parameter setting 

value is too low. 

Ensure that input command 

frequency is stable (not 

fluctuate too much) and 

activate filter function (P1-06, 

P1-07 and P1-08). 

Correctly set over-speed 

parameter setting (P2-34). 




: Abnormal pulse control command 


Pulse command 

frequency is higher 

than rated input 

frequency. 

Use pulse frequency detector to measure 

input frequency. 

Correctly set the input pulse 

frequency. 

: Excessive deviation 


Maximum deviation 


too small. 

Gain value is too 

small. 

Torque limit is too 

low. 

Check the maximum deviation 

parameter setting and observe the 

position error value when the motor is 

running. 

Check for proper gain value. 

Check torque limit value. 

Increases the parameter 


Correctly adjust gain value. 

Correctly adjust torque limit 

value. 

There is an overload. Check for overload condition. 

Reduce external applied load 

or re-estimate the motor 

capacity. 

: Reserve 

: Encoder error (Position detector fault) 


The wiring of encoder 

is in error. 

1. Check if all wiring is correct. 

2. Check if the users conduct the 

wiring by the wiring information in 

the user manual. 

Ensure all wiring is correct. 

Encoder is loose Examine the encoder connector. Install the motor again. 

The wiring of encoder 

is defective. 

Check if all connections are tight. 

Conduct the wiring again. 

Encoder is damage Check the encoder for the damage. Repair or replace the motor. 

: Adjustment error 


The setting value of 1. Remove CN1 wiring. 

drift adjustment has 2. Execute the drift adjustment again. 

exceeded its maximum (Set P2-08 to 20 first, and then set 

allowable value. 

P4-10 to 5.) 

If the error does not clear 

after executing the drift 

adjustment again, please 

contact your distributor for 

assistance or contact with 


: Emergency stop activated 


Emergency stop switch 

is activated. 

Check if emergency stop switch is On 

or Off. 

Activate emergency stop 

switch. 




: Reverse (CWL) limit switch error 


Reverse limit switch is 

activated. 

Servo system is not 

stable. 

Check if reverse limit switch is On or 

Off. 

Check the value of control parameter 

setting and load inertia. 

Activate reverse limit switch. 

Modify parameter setting and 

re-estimate motor capacity. 

: Forward (CCWL) limit switch error 


Forward limit switch is 

activated. 

Servo system is not 

stable. 

Check if forward limit switch is On or 

Off. 

Check the value of control parameter 

setting and load inertia. 

Activate forward limit switch. 

Modify parameter setting and 

re-estimate motor capacity. 

: IGBT temperature error 


The drive has 

exceeded its rated 

load during 

continuous operation. 

Check if there is overload or the motor 

current is too high. 

Increase motor capacity or 

reduce load. 

Short-circuit at drive 

output. 

Check the drive input wiring. 

Ensure all wiring is correct. 

: Memory error 


Parameter data error 

when writing into EE- 

PROM. 

Examine the parameter settings. 

Please do the following steps: 

1. Press SHIFT key on the drive keypad, 

and examine the parameter shown 

on LED display. 

2. If E320A is displayed (in 

hexadecimal format), it indicates it is 

parameter P2-10. Please examine the 

parameter settings of P2-10. 

3. If E3610 is displayed (in hexadecimal 

format), it indicates it is parameter 

P6-16. Please examine the parameter 

settings of P6-16. 

1. If this fault occurs when 

power is applied to the 

drive, it indicates that the 

setting value of one 

parameter has exceeded the 

specified range. Correct the 

setting value of the 

parameter to clear the fault 

and restart the servo drive. 

2. If this fault occurs during 

normal operation, it 

indicates that the error 

occurs when writing data 

into EE-PROM. Turn ARST (DI 

signal) ON to clear the fault 

or restart the servo drive. 

The setting value of 

hidden parameter is in 

error. 

Press SHIFT key on the drive keypad 

and examine if E100X is displayed on 

LED display. 

If this fault occurs when 

resetting the parameter 

settings, it indicates that the 

servo drive type is not set 

correctly. Correctly set the 

servo drive type again. 





Data in EE-PROM is 

damaged. 

Press SHIFT key on the drive keypad 

and examine if E0001 is displayed on 

LED display. 

If this fault occurs when power 

is applied to the drive, it 

indicates that the data in EE- 

RPM is damaged or there is no 

data in EE-PROM. Please 




: Encoder output error 


Encoder itself or the 

wiring of encoder is in 

error. 

The output frequency 

for pulse output may 

exceed the limit of its 

allowable setting 

value. 

Check if the recent fault records (P4- 

00 ~ P4-05) display on the drive 

keypad in accordance with the fault 

codes AL011, AL024, AL025 and 

AL026. 

Check if the following conditions 

occur: 

Condition 1: Motor speed is above the 

value set by P1-76. 

Condition 2: 

Motor Speed 

6 

× P1 − 46 × 4 > 19.8 × 10 

60 

Perform the corrective actions 

as described in AL011, AL024, 

AL025 and AL026. 

Correctly set P1-76 and P1-46. 

1. Ensure that the motor speed 

is below the value set by P1- 

76. 

2. 

Motor Speed 

6 

× P1 − 46 × 4 < 19.8 × 10 

60 

: Serial communication error 


Communication 


defective. 

Communication 

address is incorrect. 

Communication 

is incorrect. 

Check the communication parameter 

setting. 

Check the communication address. 

value 

Check the communication value. 

Correctly set parameter 

setting. 

Correctly set communication 

address. 

Correctly set communication 

value. 

: Serial communication time out 


Setting value in time 

out parameter is not 

correct. 

Not receiving 

communication 

command for a long 

time. 

Check communication time out 

parameter setting. 

Check whether communication cable is 

loose or broken. 

Correctly set P3-07. 

Tighten the communication 

cable, make sure the 

communication cable is not 

damaged and ensure all wiring 

is correct. 

: Reserve 




: Input power phase loss 


Control power supply 

is in error. 

Check the power cable and 

connections of R, S, and T. Check 

whether the power cable is loose or 

the possible loss of phase on input 

power. 

If the fault does not clear even 

when the three-phase power is 

connected correctly, please 




: Pre-overload warning 


The drive is going to 

overload. 

1. Check the load condition of the 

servo motor and drive. 

2. Check the setting value of P1-56. 

Check whether the setting value of 

P1-56 is too small. 

1. Please refer to the 

correction actions of 

ALE06. 

2. Increase the setting value 

of P1-56 or set P1-56 to 

100 and above. 

: Encoder initial magnetic field error 


The magnetic field of 

the encoder U, V, W 

signal is in error. 

1. Check if the servo motor is properly 

grounded. 

2. Check if the encoder signal cables 

are placed in separate conduits from 

the cables connected to R, S, T and 

U, V, W terminals to prevent the 

interference. 

3. Check if the shielded cables are used 

when performing encoder wiring. 

If the error does not clear after 

each checking is done, please 




: Encoder internal error 


The internal memory 

of the encoder is in 

error. An encoder 

counter error occurs. 


grounded. 





interference. 



1. Please connect the 

grounding (green color) of 

U, V, W terminal to the heat 

sink of the servo drive. 

2. Ensure that the encoder 

signal cables are placed in 

separate conduits from the 

cables connected to R, S, T 

and U, V, W terminals to 

prevent the interference. 

3. Please use shielded cables 

for Encoder wiring. 

4. If the error does not clear 

after all the above actions 

are done, please contact 

your distributor for 






: Encoder data error 


An encoder data error 

occurs for three times. 


grounded. 





interference. 





















:Motor internal error 



the encoder is in error. 


grounded. 





interference. 

3. Check if the shielded cables are 

used when performing encoder 

wiring. 
























The encoder U, V, W 

signals are in error. 


grounded. 





interference. 



wiring. 





















The internal address of 

the encoder is in error. 


grounded. 





interference. 



wiring. 



















: Motor protection error 



parameter P1-57 is 

reached after a period 

of time set by 

parameter P1-58. 

1. Check if P1-57 is enabled. 

2. Check if the setting values of P1-57 

and P1-58 are both too small. 

1. Set P1-57 to 0. 

2. Correctly set P1-57 and P1- 

58. Please note that the 

over-low setting may results 

in malfunction, but overhigh 

setting may let the 

motor protection function 

not operate. 




: U, V, W, GND wiring error 


The wiring connections 

of U, V, W (for servo 

motor output) and 

GND (for grounding) 

are in error. 

The ground 

connection is loose or 

not conducting 

properly. 

Check if wiring connections of U, V, 

and W are not correct. 

Check if the ground connection is 

loose and ensure the ground is 

conducting properly. 

Follow the wiring steps in the 

user manual to reconnect the 

wiring and ground the servo 

drive and motor properly. 

: Motor temperature error 


Motor is working 

under temperature 

over 105°C (221°F). 

Check if the environment temperature 

is too high. 

Try to reduce environment 

temperature. 

: Excessive encoder output error 


Encoder error causes 

abnormal encoder 

output. 

Output pulses exceed 

hardware tolerance. 

Exam error records (P4-00~P4- 

05) to check if encoder errors 

occurred. (AL011, AL024, AL025, 

AL026) 

Please refer to AL011, AL024, 

AL025, AL026 and take corrective 

actions. 

Check if conditions below occur, 

Correctly set P1-76 and P1-46: 

P1-76 < Motor rotation speed, or, 

P1-76 > Motor rotation speed, and, 

Motor rotation speed 

60 

× P1− 

46 × 4 > 19.8 × 10 

Motor rotation speed 

60 

× P1− 

46 × 4 > 19.8 × 10 

6 

: Motor temperature warning 


Motor is working 

under temperature 

over 85°C (185°F). 

Check if the environment temperature 

is too high. 

Try to reduce environment 

temperature. 

: DSP firmware upgrade 


EE-PROM is not reset 

after the firmware 

version is upgraded. 

Check if EE-PROM is reset after the 

firmware version is upgraded. 

Set P2-08 to 30 first, and then 

28 next, and restart the servo 

drive. 




9.3 Clearing Faults 

Display Fault Name Clearing Method 

Overcurrent 

Overvoltage 

Undervoltage 

Motor error 

Regeneration error 

Overload 

Overspeed 

Abnormal pulse control 

command 

Excessive deviation 

Turn ARST (DI signal) ON to clear the fault 




This fault message can be removed 

automatically after the voltage has 

returned within its specification. 

This fault message can be removed by 

restarting the servo drive. 











Reserve 

Encoder error 

Adjustment error 

Emergency stop activated 

Reverse limit switch error 

Forward limit switch error 

IGBT temperature error 

Memory error 

Encoder output error 


error 

This fault message cannot be cleared. 



This fault message can be removed after 

the wiring of CN1 connector (I/O signal 

connector) is removed and auto 

adjustment function is executed. 


automatically by turning off EMGS (DI 

signal). 

Turn ARST (DI signal) ON to clear the fault. 

This fault message can be removed when 

the servo drive is Off (Servo Off) 


This fault message can be removed when 

the servo drive is Off (Servo Off) 







This fault message can also be removed 

automatically after the communication is 

normal. 




Display Fault Name Clearing Method 


time out 



Reserve 

Input power phase loss 

Pre-overload warning 

Encoder initial magnetic 

field error 

Encoder internal error 

Encoder data error 




Motor protection error 

U,V,W, GND wiring error 

Motor temperature error 

Excessive encoder output 

error 


warning 

DSP firmware upgrade 

This fault message cannot be cleared. 



automatically after input power phase lost 

problem is solved. 






















temperature drops to normal degree. 


setting P2-08 to 30 first, and then 28 next 

and restarting the servo drive. 


Chapter 10 Specifications 

10.1 Specifications of Servo Drives (ASDA-B2 Series) 

Model: ASDA-B2 Series 

100W 200W 400W 750W 1kW 1.5kW 2kW 3kW 

01 02 04 07 10 15 20 30 

Power 

Supply 

Position Control Mode 

Speed Control Mode 

Phase / Voltage 

Continuous Output Current 

Three-phase: 170 ~ 255VAC, 50/60Hz ±5% 

Single-phase: 200 ~ 255VAC, 50/60Hz ±5% 

0.9 

Arms 

1.55 

Arms 

2.6 

Arms 

5.1 

Arms 

7.3 

Arms 

8.3 

Arms 

Three-phase: 

170 ~ 255VAC, 

50/60Hz ±5% 

13.4 

Arms 

Cooling System Natural Air Circulation Fan Cooling 

Encoder Resolution / 

Feedback Resolution 

Control of Main Circuit 

Tuning Modes 

17-bit (160000 p/rev) 

SVPWM Control 

Auto / Manual 

Dynamic Brake - Built-in 

Max. Input Pulse Frequency 

Pulse Type 

Command Source 

Smoothing Strategy 

Electronic Gear 

Torque Limit Operation 

Feed Forward Compensation 

Analog Input 

Command 

Voltage Range 

Input 

Resistance 

Time Constant 

19.4 

Arms 

Line driver: Max. 500Kpps (low speed)/ Max.4Mpps(high speed) 

Open collector: Max. 200Kpps 

Pulse + Direction, A phase + B phase, CCW pulse + CW pulse 

External pulse train / Internal parameters 


Electronic gear N/M multiple 

N: 1 ~ (2 26 -1)/M:1 ~ (2 31 -1) 

1/50 < N/M < 25600 

Set by parameters 

Set by parameters 

0 ~ ±10 V DC 

10KΩ 

2.2 us 

Speed Control Range *1 1:5000 



Torque Limit Operation 

Responsiveness 

Characteristic 

Speed Fluctuation Rate *2 

(at rated speed) 

External analog signal / Internal parameters 

Low-pass and S-curve filter 

Set by parameters or via Analog input 

Maximum 550Hz 

0.01% or less at load fluctuation 0 to 100% 

0.01% or less at power fluctuation ±10% 

0.01% or less at ambient temperature fluctuation 0 o C to 50 o C 




Torque Control Mode 

Environment 

Model: ASD-B2 Series 

Analog Input 

Command 

Voltage Range 

Input 

Resistance 

Time Constant 



Speed Limit Operation 


Digital 

Inputs/Outputs 

Protective Functions 

Inputs 

Outputs 

Communication Interface 

Installation Site 

Altitude 

Atmospheric pressure 

100W 200W 400W 750W 1kW 1.5kW 2kW 3kW 

01 02 04 07 10 15 20 30 

0 ~ ±10 V DC 

10KΩ 

2.2 us 

External analog signal / Internal parameters 


Parameter Setting or via Analog input 

Monitor signal can set by parameters (Output voltage range: ±8V) 

Servo On, Reset, Gain switching, Pulse clear, Zero speed CLAMP, 

Command input reverse control, Speed/Torque limit enabled, 

Speed command selection, Position / Speed mode switching, Speed 

/ Torque mode switching, Torque / Position mode switching, 

Emergency stop, Forward / Reverse inhibit limit, Forward / Reverse 

operation torque limit, Forward / Reverse JOG input, Electronic gear 

ratio (Numerator) selection and Pulse inhibit input 

Encoder signal output (A, B, Z Line Driver / Z Open collector) 

Servo ready, Servo On, At Zero speed, At Speed reached, At 

Positioning completed, At Torques limit, Servo alarm (Servo fault) 

activated, Electromagnetic brake control, Output overload warning, 

Servo warning activated 

Overcurrent, Overvoltage, Undervoltage, Motor overheated, 

Overload, Overspeed, Excessive deviation, Regeneration error, 

Abnormal pulse control command, Encoder error, Adjustment 

error, Emergency stop activated, Reverse/ Forward limit switch 

error, IGBT temperature error, Serial communication error, Input 

power phase loss, Serial communication time out, terminals with 

short circuit protection (U, V ,W , CN1, CN2, CN3 terminals) 

RS-232/RS-485 

Indoor location (free from direct sunlight), no corrosive liquid and 

gas (far away from oil mist, flammable gas, dust) 

Altitude 1000m or lower above sea level 

86kPa to 106kPa 

Operating Temperature 

0 o C to 55 o C (32°F to 131°F) (If operating temperature is above 

specified range, forced cooling will be required) 

Storage Temperature -20℃ ~ 65℃ 

Humidity 

Vibration 

IP Rating 

0 to 90% (non-condensing) 

9.80665m/s 2 (1G) less than 20Hz, 5.88m/ s 2 (0.6G) 20 to 50Hz 

IP20 

Power System TN System *4 

Standards/Requirement 

IEC/EN 61800-5-1, UL 508C 




Footnote: 

*1 Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor 

will not pause). 

*2 When command is rated rotation speed, the speed fluctuation rate is defined as: 

(Empty load rotation speed – Full load rotation speed) / Rated rotation speed 

*3 TN system: A power distribution system having one point directly earthed, the exposed 

conductive parts of the installation being connected to that points by protective earth 

conductor. 

*4 Please refer to “Chart of load and operating time” in section 10.4 “Overload Characteristics”. 




10.2 Specifications of Servo Motors (ECMA Series) 

Low Inertia Servo Motors 

Model: ECMA Series 

C204 C206 C208 C209 C210 

01 02 04 04 07 07 10 10 20 

Rated output power (kW) 0.1 0.2 0.4 0.4 0.75 0.75 1.0 1.0 2.0 

Rated torque (N-m) *1 0.32 0.64 1.27 1.27 2.39 2.38 3.18 3.18 6.37 

Maximum torque (N-m) 0.96 1.92 3.82 3.82 7.16 7.14 8.78 9.54 19.11 

Rated speed (r/min) 3000 

Maximum speed (r/min) 5000 3000 5000 

Rated current (A) 0.90 1.55 2.60 2.60 5.10 3.66 4.25 7.30 12.05 

Maximum current (A) 2.70 4.65 7.80 7.74 15.3 11 12.37 21.9 36.15 

Power rating (kW/s) 

(without brake) 

Rotor moment of inertia 

(× 10 -4 kg.m 2 ) (without 

brake) 

Mechanical time constant 

(ms) (without brake) 

Torque constant-KT 

(N-m/A) 

Voltage constant-KE 

(mV/(r/min)) 

Armature resistance 

(Ohm) 

27.7 22.4 57.6 22.1 48.4 29.6 38.6 38.1 90.6 

0.037 0.177 0.277 0.68 1.13 1.93 2.62 2.65 4.45 

0.75 0.80 0.53 0.73 0.62 1.72 1.20 0.74 0.61 

0.36 0.41 0.49 0.49 0.47 0.65 0.75 0.43 0.53 

13.6 16.0 17.4 18.5 17.2 27.5 24.2 16.8 19.2 

9.30 2.79 1.55 0.93 0.42 1.34 0.897 0.20 0.13 

Armature inductance (mH) 24.0 12.07 6.71 7.39 3.53 7.55 5.7 1.81 1.50 

Electrical time constant 

(ms) 

Insulation class 

2.58 4.30 4.30 7.96 8.36 5.66 6.35 9.30 11.4 

Class A (UL), Class B (CE) 

Insulation resistance 

>100MΩ, DC 500V 

Insulation strength 

Weight (kg) (without 

brake) 

1500V AC, 60 seconds 

0.5 1.2 1.6 2.1 3.0 2.9 3.8 4.3 6.2 

Weight (kg) (with brake) 0.8 1.5 2.0 2.9 3.8 3.69 5.5 4.7 7.2 

Max. radial shaft load (N) 78.4 196 196 245 245 245 245 490 490 

Max. thrust shaft load (N) 39.2 68 68 98 98 98 98 98 98 


(with brake) 


(× 10 -4 kg.m 2 ) (with brake) 


(ms) (with brake) 

Brake holding torque 

25.6 21.3 53.8 22.1 48.4 29.3 37.9 30.4 82.0 

0.04 0.192 0.30 0.73 1.18 1.95 2.67 3.33 4.95 

0.81 0.85 0.57 0.78 0.65 1.74 1.22 0.93 0.66 

[Nt-m (min)] *2 0.3 1.3 1.3 2.5 2.5 2.5 2.5 8.0 8.0 





Brake power consumption 

(at 20 o C) [W] 

Brake release time 

[ms (Max)] 

Brake pull-in time 

[ms (Max)] 

C204 C206 C208 C209 C210 

01 02 04 04 07 07 10 10 20 

7.2 6.5 6.5 8.2 8.2 8.2 8.2 18.5 18.5 

5 10 10 10 10 10 10 10 10 

25 70 70 70 70 70 70 70 70 

Vibration grade (um) 15 

Operating temperature 

Storage temperature 

Operating humidity 

Storage humidity 

0 ~ 40 o C 

-10 ~ 80 o C 

20% to 90% RH (non-condensing) 


Vibration capacity 2.5G 

IP rating 

IP65 (when waterproof connectors are used, or when an oil seal is used to 

be fitted to the rotating shaft (an oil seal model is used)) 

Approvals 

Footnote: 

*1 Rate torque values are continuous permissible values at 0~40 o C ambient temperature when 

attaching with the sizes of heatsinks listed below: 

ECMA-__04 / 06 / 08 : 250mm x 250mm x 6mm 

ECMA-__10 : 300mm x 300mm x 12mm 

ECMA-__13 : 400mm x 400mm x 20mm 

ECMA-__18 : 550mm x 550mm x 30mm 

Material type : Aluminum – F40, F60, F80, F100, F130, F180 

*2 The holding brake is used to hold the motor shaft, not for braking the rotation. Never use it 

for decelerating or stopping the machine. 

*3 For the specifications of the motors with rotary magnetic encoders, please refer to the 

specifications of the corresponding standard models. 

NOTE 

1) Please refer to Section 1.2 for details about the model explanation. 




Medium / High Inertia Servo Motors 


E213 E218 F218 G213 

05 10 15 20 20 30 30 03 06 09 

Rated output power (kW) 0.5 1.0 1.5 2.0 2.0 3.0 3.0 0.3 0.6 0.9 

Rated torque (N-m) *1 2.39 4.77 7.16 9.55 9.55 14.32 19.10 2.86 5.73 8.59 

Maximum torque (N-m) 7.16 14.32 21.48 28.65 28.65 42.97 57.29 8.59 17.19 21.48 

Rated speed (r/min) 2000 1500 1000 

Maximum speed (r/min) 3000 2000 

Rated current (A) 2.9 5.6 8.3 11.01 11.22 16.1 19.4 2.5 4.8 7.5 

Maximum current (A) 8.7 16.8 24.81 33.0 33.66 48.3 58.2 7.44 14.49 22.5 


(without brake) 


(× 10 -4 kg.m 2 ) 


(ms) 

Torque constant-KT 

(N-m/A) 

Voltage constant-KE 

(mV/(r/min)) 

Armature resistance 

(Ohm) 

Armature inductance 

(mH) 

Electrical time constant 

(ms) 

Insulation class 

7.0 27.1 45.9 62.5 26.3 37.3 66.4 10.0 39.0 66.0 

8.17 8.41 11.18 14.59 34.68 54.95 54.95 8.17 8.41 11.18 

1.91 1.51 1.11 0.96 1.62 1.06 1.28 1.84 1.40 1.07 

0.83 0.85 0.87 0.87 0.85 0.89 0.98 1.15 1.19 1.15 

30.9 31.9 31.8 31.8 31.4 32.0 35.0 42.5 43.8 41.6 

0.57 0.47 0.26 0.174 0.119 0.052 0.077 1.06 0.82 0.43 

7.39 5.99 4.01 2.76 2.84 1.38 1.27 14.29 11.12 6.97 

12.96 12.88 15.31 15.86 23.87 26.39 16.51 13.55 13.55 16.06 

Class A (UL), Class B (CE) 

Insulation resistance 

Insulation strength 

Weight (kg) (without 

brake) 

>100MΩ, DC 500V 

AC 1500V,60 sec 

6.8 7.0 7.5 7.8 13.5 18.5 18.5 6.8 7.0 7.5 

Weight (kg) (with brake) 8.2 8.4 8.9 9.2 17.5 22.5 22.5 8.2 8.4 8.9 

Max. radial shaft load (N) 490 490 490 490 1176 1470 1470 490 490 490 

Max. thrust shaft load (N) 98 98 98 98 490 490 490 98 98 98 


6.4 24.9 43.1 59.7 24.1 35.9 63.9 9.2 35.9 62.1 

(with brake) 


8.94 

(× 10 -4 kg.m 2 ) (with brake) 

9.14 11.90 15.88 37.86 57.06 57.06 8.94 9.14 11.9 


(ms) (with brake) 

2.07 1.64 1.19 1.05 1.77 1.10 1.33 2.0 1.51 1.13 

Brake holding torque 

[Nt-m (min)] *2 10.0 10.0 10.0 10.0 25.0 25.0 25.0 10.0 10.0 10.0 

Brake power 

consumption 

(at 20 o C) [W] 

19.0 19.0 19.0 19.0 20.4 20.4 20.4 19.0 19.0 19.0 





Brake release time 

[ms (Max)] 

Brake pull-in time 

[ms (Max)] 

E213 E218 F218 G213 

05 10 15 20 20 30 30 03 06 09 

10 10 10 10 10 10 10 10 10 10 

70 70 70 70 70 70 70 70 70 70 

Vibration grade (um) 15 

Operating temperature 

Storage temperature 

Operating humidity 

Storage humidity 

0 ~ 40 o C 

-10 ~ 80 o C 



Vibration capacity 2.5G 

IP rating 

IP65 (when waterproof connectors are used, or when an oil seal is used to 

be fitted to the rotating shaft (an oil seal model is used)) 

Approvals 

Footnote: 

*1 Rate torque values are continuous permissible values at 0~40 o C ambient temperature when 

attaching with the sizes of heatsinks listed below: 

ECMA-__04 / 06 / 08 : 250mm x 250mm x 6mm 

ECMA-__10 : 300mm x 300mm x 12mm 

ECMA-__13 : 400mm x 400mm x 20mm 

ECMA-__18 : 550mm x 550mm x 30mm 

Material type : Aluminum – F40, F60, F80, F100, F130, F180 

*2 The holding brake is used to hold the motor shaft, not for braking the rotation. Never use it 

for decelerating or stopping the machine. 

*3 For the specifications of the motors with rotary magnetic encoders, please refer to the 


NOTE 

1) Please refer to Section 1.2 for details about the model explanation. 




10.3 Servo Motor Speed-Torque Curves 




10.4 Overload Characteristics 

• Overload Protection Function 

Overload protection is a built-in protective function to prevent a motor from overheating. 

• Occasion of Overload 

1. Motor was operated for several seconds under a torque exceeding 100% torque. 

2. Motor had driven high inertia machine and had accelerated and decelerated at high 

frequency. 

3. Motor UVW cable or encoder cable was not connected correctly. 

4. Servo gain was not set properly and caused motor hunting. 

5. Motor holding brake was not released. 

• Chart of load and operating time 

Low Inertia Series (ECMA C2 Series) 




Medium and Medium-High Inertia Series (ECMA E2, F2 Series) 

High Inertia Series (ECMA G2/GM Series) 




10.5 Dimensions of Servo Drives 

Order P/N: ASD-B2-0121; ASD-B2-0221; ASD-B2-0421 (100W ~ 400W) 

WEIGHT 

1.07 (2.36) 

NOTE 

1) Dimensions are in millimeters (inches). 

2) Weights are in kilograms (kg) and (pounds (lbs)). 

3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) 

are for reference only. Please use metric for precise measurements. 




Order P/N: ASD-B2-0721 (750W) 

WEIGHT 

1.54 (3.40) 

NOTE 








Order P/N: ASD-B2-1021;ASD-B2-1521 (1kW ~ 1.5kW) 

WEIGHT 

1.72 (3.79) 

NOTE 








Order P/N: ASD-B2-2023;ASD-B2-3023 (2kW ~ 3kW) 

WEIGHT 

2.67 (5.88) 

NOTE 








10.6 Dimensions of Servo Motors 

Motor Frame Size: 86mm and below Models 

Model 

C20401□S C20602□S C20604□S C20804□S C20807□S C20907□S C20910□S 

LC 40 60 60 80 80 86 86 

LZ 4.5 5.5 5.5 6.6 6.6 6.6 6.6 

LA 46 70 70 90 90 100 100 

S ) 

LB ) 

LL (without 

brake) 

+ 

8( 0 + 

− 0. 

009 14( 0 + 

− 0. 

011) 

14( 0 + 

− 0. 

011) 

14( 0 + 

− 0. 

011) 

19( 0 + 

− 0. 

013) 

16( 0 + 

− 0. 

011) 

16( 0 − 0. 

011) 

+ 

30( 0 + 

− 0. 

021 

50( 0 + 

− 0. 

025) 

50( 0 + 

− 0. 

025) 

70( 0 + 

− 0. 

030) 

70( 0 + 

− 0. 

030) 

80( 0 + 

− 0. 

030) 

80( 0 − 0. 

030) 

100.6 105.5 130.7 112.3 138.3 130.2 153.2 

LL (with brake) 136.6 141.6 166.8 152.8 178 161.3 184.3 

LS (without oil 

seal) 

20 27 27 27 32 30 30 

LS (with oil seal) 20 24 24 24.5 29.5 30 30 

LR 25 30 30 30 35 35 35 

LE 2.5 3 3 3 3 3 3 

LG 5 7.5 7.5 8 8 8 8 

LW 16 20 20 20 25 20 20 

RH 6.2 11 11 11 15.5 13 13 

WK 3 5 5 5 6 5 5 

W 3 5 5 5 6 5 5 

T 3 5 5 5 6 5 5 

TP 

NOTE 

M3 

Depth 8 

M4 

Depth 15 

1) Dimensions are in millimeters. 

M4 

Depth 15 

M4 

Depth 15 

M6 

Depth 20 

M5 

Depth 15 

2) Dimensions and weights of the servo motor may be revised without prior notice. 

M5 

Depth 15 

3) The boxes () in the model names are for optional configurations. (Please refer to section 1.2 

for model explanation.) 

4) Except ECMA-CM0604PS LL: 116.2mm, for the specifications of the motors with rotary 

magnetic encoders, please refer to the specifications of the corresponding standard models. 




Motor Frame Size: 100mm ~ 130mm Models 

Model G21303□S E21305□S G21306□S G21309□S C21010□S 

LC 130 130 130 130 100 

LZ 9 9 9 9 9 

LA 145 145 145 145 115 

S ) 

LB ) 

+ 

22( 0 + 

− 0. 

013 

22( 0 + 

− 0. 

013) 

22( 0 + 

− 0. 

013) 

22( 0 + 

− 0. 

013) 

22( 0 − 0. 

013) 

+ 

110( 0 + 

− 0. 

035 

110( 0 + 

− 0. 

035) 

110( 0 + 

− 0. 

035) 

110( 0 + 

− 0. 

035) 

95( 0 − 0. 

035) 

LL (without brake) 147.5 147.5 147.5 163.5 153.3 

LL (with brake) 183.5 183.5 183.5 198 192.5 

LS 47 47 47 47 37 

LR 55 55 55 55 45 

LE 6 6 6 6 5 

LG 11.5 11.5 11.5 11.5 12 

LW 36 36 36 36 32 

RH 18 18 18 18 18 

WK 8 8 8 8 8 

W 8 8 8 8 8 

T 7 7 7 7 7 

TP 

M6 

Depth 20 

M6 

Depth 20 

M6 

Depth 20 

M6 

Depth 20 

M6 

Depth 20 

NOTE 





4) For the specifications of the motors with rotary magnetic encoders, please refer to the 





Motor Frame Size: 100mm ~ 130mm Models 

Model E21310□S E21315□S C21020□S E21320□S 

LC 130 130 100 130 

LZ 9 9 9 9 

LA 145 145 115 145 

S ) 

LB ) 

+ 

22( 0 + 

− 0. 

013 

22( 0 + 

− 0. 

013) 

22( 0 + 

− 0. 

013) 

22( 0 − 0. 

013) 

+ 

110( 0 + 

− 0. 

035 

110( 0 + 

− 0. 

035) 

95( 0 + 

− 0. 

035) 

110( 0 − 0. 

035) 

LL (without brake) 147.5 167.5 199 187.5 

LL (with brake) 183.5 202 226 216 

LS 47 47 37 47 

LR 55 55 45 55 

LE 6 6 5 6 

LG 11.5 11.5 12 11.5 

LW 36 36 32 36 

RH 18 18 18 18 

WK 8 8 8 8 

W 8 8 8 8 

T 7 7 7 7 

TP 

M6 

Depth 20 

M6 

Depth 20 

M6 

Depth 20 

M6 

Depth 20 

NOTE 








Motor Frame Size: 180mm Models 

Model E21820□S E21830□S F21830□S 

LC 180 180 180 

LZ 13.5 13.5 13.5 

LA 200 200 200 

S ) 

LB ) 

+ 

35( 0 + 

− 0. 

016 

35( 0 + 

− 0. 

016) 

35( 0 − 0. 

016) 

+ 0 

+ 0 

+ 0 

114. 3( 

− 0. 

035 

114. 3( 

− 0. 

035) 

114. 3( 

− 0. 

035) 

LL (without brake) 169 202.1 202.1 

LL (with brake) 203.1 235.3 235.3 

LS 73 73 73 

LR 79 79 79 

LE 4 4 4 

LG 20 20 20 

LW 63 63 63 

RH 30 30 30 

WK 10 10 10 

W 10 10 10 

T 8 8 8 

TP 

M12 

Depth 25 

M12 

Depth 25 

M12 

Depth 25 

NOTE 






Appendix A Accessories 

• Power Connectors 

Delta Part Number: ASDBCAPW0000 

Title Part No. Manufacturer 

Housing 50-36-1735 MOLEX 

Terminal 39-00-0040 MOLEX 

Delta Part Number:ASDBCAPW0100 


Housing 50-36-1736 MOLEX 

Terminal 39-00-0040 MOLEX 

Delta Part Number: ASD-CAPW1000 

Delta Part Number: ASD-CAPW2000 

Revision January 2012 A-1



• Power Cables 

Delta Part Number: ASDBCAPW0203/0205 


Housing C4201H00-2*2PA JOWLE 

Terminal C4201TOP-2 JOWLE 

Title 

Part No. 

L 

mm 

inch 

1 ASDBCAPW0203 3000 ± 50 118 ± 2 

2 ASDBCAPW0205 5000 ± 50 197 ± 2 



Housing C4201H00-2*3PA JOWLE 

Terminal C4201TOP-2 JOWLE 

Title 

Part No. 

L 

mm 

inch 

1 ASDBCAPW0303 3000 ± 50 118 ± 2 

2 ASDBCAPW0305 5000 ± 50 197 ± 2 

A-2 Revision January 2012



• Power Cables, cont. 


YF3.5-3SG 

3106A-20-18S 

L 

Title Part No. Straight 

L 

mm inch 

1 ASDBCAPW1203 3106A-20-18S 3000 ± 50 118 ± 2 

2 ASDBCAPW1205 3106A-20-18S 5000 ± 50 197 ± 2 


YF3.5-3SG 

3106A-20-18S 

L 


L 

mm inch 

1 ASDBCAPW1303 3106A-20-18S 3000 ± 50 118 ± 2 

2 ASDBCAPW1305 3106A-20-18S 5000 ± 50 197 ± 2 

Delta Part Number: ASD-CAPW2203/2205 


L 

mm inch 

1 ASD-CAPW2203 3106A-24-11S 3000 ± 50 118 ± 2 

2 ASD-CAPW2205 3106A-24-11S 5000 ± 50 197 ± 2 




Delta Part Number: ASD-CAPW2303/2305 


L 

mm inch 

1 ASD-CAPW2303 3106A-24-11S 3000 ± 50 118 ± 2 

2 ASD-CAPW2305 3106A-24-11S 5000 ± 50 197 ± 2 

• Encoder Connectors 

Delta Part Number: ASDBCAEN0000 


Housing AMP (1-172161-9) AMP 

Terminal AMP (170359-3) AMP 

CLAMP DELTA (34703237XX) DELTA 

Delta Part Number: ASDBCAEN1000 




• Encoder Cables 

Delta Part Number: ASDBCAEN0003/0005 


Housing AMP (1-172161-9) AMP 

Terminal AMP (170359-3) AMP 

CLAMP DELTA (34703237XX) DELTA 

Title 

Part No. 

L 

mm 

inch 

1 ASDBCAEN0003 3000 ± 50 118 ±2 

2 ASDBCAEN0005 5000 ± 50 197 ± 2 

Delta Part Number: ASDBCAEN1003/1005 


L 

mm inch 

1 ASDBCAEN1003 3106A-20-29S 3000 ± 50 118 ± 2 

2 ASDBCAEN1005 3106A-20-29S 5000 ± 50 197 ± 2 




• I/O Signal Connector (CN1) 

Delta Part Number: ASDBCNDS0044 

• Communication Cable between Drive and Computer (for PC) 

Delta Part Number: ASD-CNUS0A08 

L 

80.1 

22.5 

1.8 

21.2 

Unit: mm 

Title 

Part No. : ASD-CNUS0A08 

cable 

connector 

L 

RJ connector 

USB connector 

3000 ± 100 mm 

118 ±4 inch 

RJ-45 

A-type (USB V2.0) 




• Voltage Output Cable (Analog Signal) 

Delta Serial Number: 38644718XX 

1 

2 

3 

20±5 

• RS-485 Connector 


Housing A2004H00-3P JWT 

Terminal A2004TOP-2 JWT 

Delta Part Number: ASD-CNIE0B06 




• Servo Drive, Servo Motor and Accessories Combinations 

100W Servo Drive and 100W Low Inertia Servo Motor 

Servo Drive 


Low inertia 

Servo Motor 

ECMA-C20401□S 

Without Brake 

With Brake 

3M 5M 3M 5M 

Cable 

Motor Power Cable Motor Power Cable 

ASDBCAPW0203 ASDBCAPW0205 

- - 

Encoder Cable Encoder Cable 

ASDBCAEN0003 ASDBCAEN0005 

- - 

Connector 

Power Connector ASDBCAPW0000 

Encoder Connector ASDBCAEN0000 


Servo Drive 


Low inertia 

Servo Motor 


Without Brake 

With Brake 

3M 5M 3M 5M 

Cable 

Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable 

ASDBCAPW0203 ASDBCAPW0205 ASDBCAPW0303 ASDBCAPW0305 

Encoder Cable 

ASDBCAEN0003 

Encoder Cable 

ASDBCAEN0005 

Encoder Cable 

ASDBCAEN0003 

Encoder Cable 

ASDBCAEN0005 

Connector 

Power Connector ASDBCAPW0000 Power Connector ASDBCAPW0100 



Servo Drive 



Low inertia 

ECMA-CM0604PS 

Servo Motor 

ECMA-C20804□7 

Without Brake 

With Brake 

3M 5M 3M 5M 

Cable 



Encoder Cable 

ASDBCAEN0003 

Encoder Cable 

ASDBCAEN0005 

Encoder Cable 

ASDBCAEN0003 

Encoder Cable 

ASDBCAEN0005 

Connector 






400W Servo Drive and 500W Medium Inertia Servo Motor 

Medium inertia 

Servo Motor 

ECMA-E21305□S 

Without Brake 

Without Brake 

3M 5M 3M 5M 

Cable 



Encoder Cable 

ASDBCAEN1003 

Encoder Cable 

ASDBCAEN1005 

Encoder Cable 

ASDBCAEN1003 

Encoder Cable 

ASDBCAEN1005 

Connector 

Power Connector ASD-CAPW1000 


400W Servo Drive and 300W High Inertia Servo Motor 

Servo Drive 

High inertia 

Servo Motor 

Cable 

Connector 


ECMA-G21303□S 

Without Brake 

With Brake 

3M 5M 3M 5M 



Encoder Cable Encoder Cable Encoder Cable Encoder Cable 

ASDBCAEN1003 ASDBCAEN1005 ASDBCAEN1003 ASDBCAEN1005 




Servo Drive 

Low inertia 

Servo Motor 

Cable 

Connector 




Without Brake 

With Brake 

3M 5M 3M 5M 










750W Servo Drive and 600W High Inertia Servo Motor 

Servo Drive 

High inertia 

Servo Motor 

Cable 

Connector 



ECMA-GM1306PS 

Without Brake 

With Brake 

3M 5M 3M 5M 







1kW Servo Drive and 1kW Low Inertia Servo Motor 

Servo Drive 

Low inertia 

Servo Motor 

Cable 

Connector 




Without Brake 

With Brake 

3M 5M 3M 5M 







1kW Servo Drive and 1kW Medium Inertia Servo Motor 

Servo Drive 



Servo Motor 


Without Brake 

With Brake 

3M 5M 3M 5M 

Cable 



Encoder Cable 

ASDBCAEN1003 

Encoder Cable 

ASDBCAEN1005 

Encoder Cable 

ASDBCAEN1003 

Encoder Cable 

ASDBCAEN1005 

Connector 






1kW Servo Drive and 900W High Inertia Servo Motor 

Servo Drive 

High inertia 

Servo Motor 

Cable 

Connector 



ECMA-GM1309PS 

Without Brake 

With Brake 

3M 5M 3M 5M 







1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor 

Servo Drive 



Servo Motor 


Without Brake 

With Brake 

3M 5M 3M 5M 

Cable 



Encoder Cable 

ASDBCAEN1003 

Encoder Cable 

ASDBCAEN1005 

Encoder Cable 

ASDBCAEN1003 

Encoder Cable 

ASDBCAEN1005 

Connector 



2kW Servo Drive and 2kW Low Inertia Servo Motor 

Servo Drive 

Low inertia 

Servo Motor 

Cable 

Connector 



Without Brake 

With Brake 

3M 5M 3M 5M 











Servo Drive 



Servo Motor 


Without Brake 

With Brake 

3M 5M 3M 5M 

Cable 



Encoder Cable 

ASDBCAEN1003 

Encoder Cable 

ASDBCAEN1005 

Encoder Cable 

ASDBCAEN1003 

Encoder Cable 

ASDBCAEN1005 

Connector 




Servo Drive 



Servo Motor 


Without Brake 

With Brake 

3M 5M 3M 5M 

Cable 


ASD-CAPW2203 ASD-CAPW2205 ASD-CAPW2303 ASD-CAPW2305 

Encoder Cable 

ASDBCAEN1003 

Encoder Cable 

ASDBCAEN1005 

Encoder Cable 

ASDBCAEN1003 

Encoder Cable 

ASDBCAEN1005 

Connector 




Servo Drive 



Servo Motor 


Without Brake 

With Brake 

3M 5M 3M 5M 

Cable 



Encoder Cable 

ASDBCAEN1003 

Encoder Cable 

ASDBCAEN1005 

Encoder Cable 

ASDBCAEN1003 

Encoder Cable 

ASDBCAEN1005 

Connector 







Servo Drive 


Servo Motor 


ECMA-F21830□S 

Without Brake 

With Brake 

3M 5M 3M 5M 

Cable 



Encoder Cable 

Encoder Cable 

Encoder Cable 

Encoder Cable 

ASDBCAEN1003 

ASDBCAEN1005 

ASDBCAEN1003 

ASDBCAEN1005 

Connector 



Other Accessories (for ASDA-B2 series all models) 

Description 

Communication Cable between Drive and 

Computer (for PC) 

Regenerative Resistor 400W 100Ω 

Regenerative Resistor 3kW 10Ω 

Delta Part Number 

ASD-CARS0003 

BR400W040 

BR1K0W020 

NOTE 

1) The boxes () at the ends of the servo drive model names are for optional configurations (Full 

closed-loop, CANopen and extension DI port). For the actual model name, please refer to the 

ordering information of the actual purchased product. 

2) The boxes () in the servo motor model names are for optional configurations (keyway, brake 

and oil seal). 






Appendix B Maintenance and Inspection 

Delta AC servo drives are based on solid state electronics technology. Preventive maintenance 

is required to operate this AC servo drives in its optimal condition, and to ensure a long life. It 

is recommended to perform a periodic maintenance and inspection of the AC servo drive by a 

qualified technician. Before any maintenance and inspection, always turn off the AC input 

power to the unit. 

‣ Be sure to disconnect AC power and ensure that the internal capacitors have fully 

discharged before performing the maintenance and inspection! 

Basic Inspection 

After power is in connected to the AC servo drive, the charge LED will be lit which indicates 

that the AC servo drive is ready. 

Item 

General Inspection 

Inspection before 

operation 

(Control power is 

not applied) 

Content 

• Periodically inspect the screws of the servo drive, motor shaft, terminal 

block and the connection to mechanical system. Tighten screws as 

necessary as they may loosen due to vibration and varying temperatures. 

• Ensure that oil, water, metallic particles or any foreign objects do not fall 

inside the servo drive, motor, control panel or ventilation slots and 

holes. As these will cause damage. 

• Ensure the correct installation and the control panel. It should be free 

from airborne dust, harmful gases or liquids. 

• Ensure that all wiring instructions and recommendations are followed; 

otherwise damage to the drive and or motor may result. 

• Inspect the servo drive and servo motor to insure they were not 

damaged. 

• To avoid an electric shock, be sure to connect the ground terminal of 

servo drive to the ground terminal of control panel. 

• Before making any connection, wait 10 minutes for capacitors to 

discharge after the power is disconnected, alternatively, use an 

appropriate discharge device to discharge. 

• Ensure that all wiring terminals are correctly insulated. 

• Ensure that all wiring is correct or damage and or malfunction may 

result. 

• Visually check to ensure that there are not any unused screws, metal 

strips, or any conductive or inflammable materials inside the drive. 

• Never put inflammable objects on servo drive or close to the external 


• Make sure control switch is OFF. 

• If the electromagnetic brake is being used, ensure that it is correctly 

wired. 

Revision January 2012 B-1



Item 

Inspection before 

operation 


not applied) 

Inspection during 

operation 


applied)) 

Content 

• If required, use an appropriate electrical filter to eliminate noise to the 

servo drive. 

• Ensure that the external applied voltage to the drive is correct and 

matched to the controller. 

• Ensure that the cables are not damaged, stressed excessively or loaded 

heavily. When the motor is running, pay close attention on the 

connection of the cables and notice that if they are damaged, frayed or 

over extended. 

• Check for abnormal vibrations and sounds during operation. If the servo 

motor is vibrating or there are unusual noises while the motor is 

running, please contact the dealer or manufacturer for assistance. 

• Ensure that all user-defined parameters are set correctly. Since the 

characteristics of various machinery are different, in order to avoid 

accident or cause damage, do not adjust the parameter abnormally and 

ensure the parameter setting is not an excessive value. 

• Ensure to reset some parameters when the servo drive is off (Please refer 

to Chapter 7). Otherwise, it may result in malfunction. 

• If there is no contact sound or there be any unusual noises when the 

relay of the servo drive is operating, please contact your distributor for 

assistance or contact with Delta. 

• Check for abnormal conditions of the power indicators and LED display. 

If there is any abnormal condition of the power indicators and LED 

display, please contact your distributor for assistance or contact with 


Maintenance 

• Use and store the product in a proper and normal environment. 

• Periodically clean the surface and panel of servo drive and motor. 

• Make sure the conductors or insulators are corroded and/or damaged. 

• Do not disassemble or damage any mechanical part when performing maintenance. 

• Clean off any dust and dirt with a vacuum cleaner. Place special emphasis on cleaning the 

ventilation ports and PCBs. Always keep these areas clean, as accumulation of dust and 

dirt can cause unforeseen failures. 

B-2 Revision January 2012



Life of Replacement Components 

• Smooth capacitor 

The characteristics of smooth capacitor would be deteriorated by ripple current 

affection. The life of smooth capacitor varies according to ambient temperature and 

operating conditions. The common guaranteed life of smooth capacitor is ten years 

when it is properly used in normal air-conditioned environment. 

• Relay 

The contacts will wear and result in malfunction due to switching current. The life of 

relay varies according to power supply capacity. Therefore, the common guaranteed life 

of relay is cumulative 100,000 times of power on and power off. 

• Cooling fan 

The cooling fan life is limited and should be changed periodically. The cooling fan will 

reach the end of its life in 2~3 years when it is in continuous operation. However, it also 

must be replaced if the cooling fan is vibrating or there are unusual noises. 

Revision January 2012 B-3




B-4 Revision January 2012

ASDA-B2 User-Manual(E)CURVE.cdr - Delta Electronics

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